/*
 * FreeRTOS Kernel V10.4.6
 * Copyright (C) 2021 Amazon.com, Inc. or its affiliates.    All Rights Reserved.
 *
 * SPDX-License-Identifier: MIT
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * https://www.FreeRTOS.org
 * https://github.com/FreeRTOS
 *
 */

/* Standard includes. */
#include <stdlib.h>
#include <string.h>

/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
 * all the API functions to use the MPU wrappers.    That should only be done when
 * task.h is included from an application file. */
#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE

/* FreeRTOS includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
#include "stack_macros.h"

/* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
 * because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
 * for the header files above, but not in this file, in order to generate the
 * correct privileged Vs unprivileged linkage and placement. */
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */

/* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
 * functions but without including stdio.h here. */
#if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )

/* At the bottom of this file are two optional functions that can be used
 * to generate human readable text from the raw data generated by the
 * uxTaskGetSystemState() function.    Note the formatting functions are provided
 * for convenience only, and are NOT considered part of the kernel. */
        #include <stdio.h>
#endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */

#if ( configUSE_PREEMPTION == 0 )

/* If the cooperative scheduler is being used then a yield should not be
 * performed just because a higher priority task has been woken. */
        #define taskYIELD_IF_USING_PREEMPTION()
#else
        #define taskYIELD_IF_USING_PREEMPTION()        portYIELD_WITHIN_API()
#endif

/* Values that can be assigned to the ucNotifyState member of the TCB. */
#define taskNOT_WAITING_NOTIFICATION                            ( ( uint8_t ) 0 ) /* Must be zero as it is the initialised value. */
#define taskWAITING_NOTIFICATION                                    ( ( uint8_t ) 1 )
#define taskNOTIFICATION_RECEIVED                                 ( ( uint8_t ) 2 )

/*
 * The value used to fill the stack of a task when the task is created.    This
 * is used purely for checking the high water mark for tasks.
 */
#define tskSTACK_FILL_BYTE                                                ( 0xa5U )

/* Bits used to record how a task's stack and TCB were allocated. */
#define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB        ( ( uint8_t ) 0 )
#define tskSTATICALLY_ALLOCATED_STACK_ONLY                ( ( uint8_t ) 1 )
#define tskSTATICALLY_ALLOCATED_STACK_AND_TCB         ( ( uint8_t ) 2 )

/* If any of the following are set then task stacks are filled with a known
 * value so the high water mark can be determined.    If none of the following are
 * set then don't fill the stack so there is no unnecessary dependency on memset. */
#if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
        #define tskSET_NEW_STACKS_TO_KNOWN_VALUE        1
#else
        #define tskSET_NEW_STACKS_TO_KNOWN_VALUE        0
#endif

/*
 * Macros used by vListTask to indicate which state a task is in.
 */
#define tskRUNNING_CHAR            ( 'X' )
#define tskBLOCKED_CHAR            ( 'B' )
#define tskREADY_CHAR                ( 'R' )
#define tskDELETED_CHAR            ( 'D' )
#define tskSUSPENDED_CHAR        ( 'S' )

/*
 * Some kernel aware debuggers require the data the debugger needs access to to
 * be global, rather than file scope.
 */
#ifdef portREMOVE_STATIC_QUALIFIER
        #define static
#endif

/* The name allocated to the Idle task.    This can be overridden by defining
 * configIDLE_TASK_NAME in FreeRTOSConfig.h. */
#ifndef configIDLE_TASK_NAME
        #define configIDLE_TASK_NAME        "IDLE"
#endif

#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )

/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
 * performed in a generic way that is not optimised to any particular
 * microcontroller architecture. */

/* uxTopReadyPriority holds the priority of the highest priority ready
 * state task. */
        #define taskRECORD_READY_PRIORITY( uxPriority ) \
        {                                                                                             \
                if( ( uxPriority ) > uxTopReadyPriority )     \
                {                                                                                     \
                        uxTopReadyPriority = ( uxPriority );        \
                }                                                                                     \
        } /* taskRECORD_READY_PRIORITY */

/*-----------------------------------------------------------*/

        #define taskSELECT_HIGHEST_PRIORITY_TASK()                                                                \
        {                                                                                                                                                 \
                UBaseType_t uxTopPriority = uxTopReadyPriority;                                             \
                                                                                                                                                            \
                /* Find the highest priority queue that contains ready tasks. */            \
                while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \
                {                                                                                                                                         \
                        configASSERT( uxTopPriority );                                                                        \
                        --uxTopPriority;                                                                                                    \
                }                                                                                                                                         \
                                                                                                                                                            \
                /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
                 * the    same priority get an equal share of the processor time. */                                        \
                listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
                uxTopReadyPriority = uxTopPriority;                                                                                                     \
        } /* taskSELECT_HIGHEST_PRIORITY_TASK */

/*-----------------------------------------------------------*/

/* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
 * they are only required when a port optimised method of task selection is
 * being used. */
        #define taskRESET_READY_PRIORITY( uxPriority )
        #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )

#else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */

/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
 * performed in a way that is tailored to the particular microcontroller
 * architecture being used. */

/* A port optimised version is provided.    Call the port defined macros. */
        #define taskRECORD_READY_PRIORITY( uxPriority )        portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )

/*-----------------------------------------------------------*/

        #define taskSELECT_HIGHEST_PRIORITY_TASK()                                                                                                    \
        {                                                                                                                                                                                     \
                UBaseType_t uxTopPriority;                                                                                                                            \
                                                                                                                                                                                                \
                /* Find the highest priority list that contains ready tasks. */                                                 \
                portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority );                                                    \
                configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
                listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) );     \
        } /* taskSELECT_HIGHEST_PRIORITY_TASK() */

/*-----------------------------------------------------------*/

/* A port optimised version is provided, call it only if the TCB being reset
 * is being referenced from a ready list.    If it is referenced from a delayed
 * or suspended list then it won't be in a ready list. */
        #define taskRESET_READY_PRIORITY( uxPriority )                                                                                                         \
        {                                                                                                                                                                                                    \
                if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
                {                                                                                                                                                                                            \
                        portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) );                                                \
                }                                                                                                                                                                                            \
        }

#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */

/*-----------------------------------------------------------*/

/* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
 * count overflows. */
#define taskSWITCH_DELAYED_LISTS()                                                                                                \
        {                                                                                                                                                         \
                List_t * pxTemp;                                                                                                                    \
                                                                                                                                                                    \
                /* The delayed tasks list should be empty when the lists are switched. */ \
                configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );                             \
                                                                                                                                                                    \
                pxTemp = pxDelayedTaskList;                                                                                             \
                pxDelayedTaskList = pxOverflowDelayedTaskList;                                                        \
                pxOverflowDelayedTaskList = pxTemp;                                                                             \
                xNumOfOverflows++;                                                                                                                \
                prvResetNextTaskUnblockTime();                                                                                        \
        }

/*-----------------------------------------------------------*/

/*
 * Place the task represented by pxTCB into the appropriate ready list for
 * the task.    It is inserted at the end of the list.
 */
#define prvAddTaskToReadyList( pxTCB )                                                                                                                                 \
        traceMOVED_TASK_TO_READY_STATE( pxTCB );                                                                                                                     \
        taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority );                                                                                                \
        listINSERT_END( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
        tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
/*-----------------------------------------------------------*/

/*
 * Several functions take a TaskHandle_t parameter that can optionally be NULL,
 * where NULL is used to indicate that the handle of the currently executing
 * task should be used in place of the parameter.    This macro simply checks to
 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
 */
#define prvGetTCBFromHandle( pxHandle )        ( ( ( pxHandle ) == NULL ) ? pxCurrentTCB : ( pxHandle ) )

/* The item value of the event list item is normally used to hold the priority
 * of the task to which it belongs (coded to allow it to be held in reverse
 * priority order).    However, it is occasionally borrowed for other purposes.    It
 * is important its value is not updated due to a task priority change while it is
 * being used for another purpose.    The following bit definition is used to inform
 * the scheduler that the value should not be changed - in which case it is the
 * responsibility of whichever module is using the value to ensure it gets set back
 * to its original value when it is released. */
#if ( configUSE_16_BIT_TICKS == 1 )
        #define taskEVENT_LIST_ITEM_VALUE_IN_USE        0x8000U
#else
        #define taskEVENT_LIST_ITEM_VALUE_IN_USE        0x80000000UL
#endif

/*
 * Task control block.    A task control block (TCB) is allocated for each task,
 * and stores task state information, including a pointer to the task's context
 * (the task's run time environment, including register values)
 */
typedef struct tskTaskControlBlock             /* The old naming convention is used to prevent breaking kernel aware debuggers. */
{
        volatile StackType_t * pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack.    THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */

        #if ( portUSING_MPU_WRAPPERS == 1 )
                xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer.    THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
        #endif

        ListItem_t xStateListItem;                                    /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
        ListItem_t xEventListItem;                                    /*< Used to reference a task from an event list. */
        UBaseType_t uxPriority;                                         /*< The priority of the task.    0 is the lowest priority. */
        StackType_t * pxStack;                                            /*< Points to the start of the stack. */
        char pcTaskName[ configMAX_TASK_NAME_LEN ]; /*< Descriptive name given to the task when created.    Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */

        #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
                StackType_t * pxEndOfStack; /*< Points to the highest valid address for the stack. */
        
        #else
               UBaseType_t  uxSizeOfStack;    /*< Support For CmBacktrace >*/
        #endif

        #if ( portCRITICAL_NESTING_IN_TCB == 1 )
                UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
        #endif

        #if ( configUSE_TRACE_FACILITY == 1 )
                UBaseType_t uxTCBNumber;    /*< Stores a number that increments each time a TCB is created.    It allows debuggers to determine when a task has been deleted and then recreated. */
                UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
        #endif

        #if ( configUSE_MUTEXES == 1 )
                UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
                UBaseType_t uxMutexesHeld;
        #endif

        #if ( configUSE_APPLICATION_TASK_TAG == 1 )
                TaskHookFunction_t pxTaskTag;
        #endif

        #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
                void * pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
        #endif

        #if ( configGENERATE_RUN_TIME_STATS == 1 )
                configRUN_TIME_COUNTER_TYPE ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
        #endif

        #if ( configUSE_NEWLIB_REENTRANT == 1 )

                /* Allocate a Newlib reent structure that is specific to this task.
                 * Note Newlib support has been included by popular demand, but is not
                 * used by the FreeRTOS maintainers themselves.    FreeRTOS is not
                 * responsible for resulting newlib operation.    User must be familiar with
                 * newlib and must provide system-wide implementations of the necessary
                 * stubs. Be warned that (at the time of writing) the current newlib design
                 * implements a system-wide malloc() that must be provided with locks.
                 *
                 * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
                 * for additional information. */
                struct    _reent xNewLib_reent;
        #endif

        #if ( configUSE_TASK_NOTIFICATIONS == 1 )
                volatile uint32_t ulNotifiedValue[ configTASK_NOTIFICATION_ARRAY_ENTRIES ];
                volatile uint8_t ucNotifyState[ configTASK_NOTIFICATION_ARRAY_ENTRIES ];
        #endif

        /* See the comments in FreeRTOS.h with the definition of
         * tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
        #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
                uint8_t ucStaticallyAllocated;                                         /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
        #endif

        #if ( INCLUDE_xTaskAbortDelay == 1 )
                uint8_t ucDelayAborted;
        #endif

        #if ( configUSE_POSIX_ERRNO == 1 )
                int iTaskErrno;
        #endif
} tskTCB;

/* The old tskTCB name is maintained above then typedefed to the new TCB_t name
 * below to enable the use of older kernel aware debuggers. */
typedef tskTCB TCB_t;

/*lint -save -e956 A manual analysis and inspection has been used to determine
 * which static variables must be declared volatile. */
PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;

/* Lists for ready and blocked tasks. --------------------
 * xDelayedTaskList1 and xDelayedTaskList2 could be moved to function scope but
 * doing so breaks some kernel aware debuggers and debuggers that rely on removing
 * the static qualifier. */
PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
PRIVILEGED_DATA static List_t xDelayedTaskList1;                                                 /*< Delayed tasks. */
PRIVILEGED_DATA static List_t xDelayedTaskList2;                                                 /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList;                            /*< Points to the delayed task list currently being used. */
PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList;            /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
PRIVILEGED_DATA static List_t xPendingReadyList;                                                 /*< Tasks that have been readied while the scheduler was suspended.    They will be moved to the ready list when the scheduler is resumed. */

#if ( INCLUDE_vTaskDelete == 1 )

        PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
        PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;

#endif

#if ( INCLUDE_vTaskSuspend == 1 )

        PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */

#endif

/* Global POSIX errno. Its value is changed upon context switching to match
 * the errno of the currently running task. */
#if ( configUSE_POSIX_ERRNO == 1 )
        int FreeRTOS_errno = 0;
#endif

/* Other file private variables. --------------------------------*/
PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
PRIVILEGED_DATA static volatile TickType_t xPendedTicks = ( TickType_t ) 0U;
PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandle = NULL;                                                    /*< Holds the handle of the idle task.    The idle task is created automatically when the scheduler is started. */

/* Improve support for OpenOCD. The kernel tracks Ready tasks via priority lists.
 * For tracking the state of remote threads, OpenOCD uses uxTopUsedPriority
 * to determine the number of priority lists to read back from the remote target. */
const volatile UBaseType_t uxTopUsedPriority = configMAX_PRIORITIES - 1U;

/* Context switches are held pending while the scheduler is suspended.    Also,
 * interrupts must not manipulate the xStateListItem of a TCB, or any of the
 * lists the xStateListItem can be referenced from, if the scheduler is suspended.
 * If an interrupt needs to unblock a task while the scheduler is suspended then it
 * moves the task's event list item into the xPendingReadyList, ready for the
 * kernel to move the task from the pending ready list into the real ready list
 * when the scheduler is unsuspended.    The pending ready list itself can only be
 * accessed from a critical section. */
PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;

#if ( configGENERATE_RUN_TIME_STATS == 1 )

/* Do not move these variables to function scope as doing so prevents the
 * code working with debuggers that need to remove the static qualifier. */
        PRIVILEGED_DATA static configRUN_TIME_COUNTER_TYPE ulTaskSwitchedInTime = 0UL;        /*< Holds the value of a timer/counter the last time a task was switched in. */
        PRIVILEGED_DATA static volatile configRUN_TIME_COUNTER_TYPE ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */

#endif

/*lint -restore */

/*-----------------------------------------------------------*/

/* File private functions. --------------------------------*/

/**
 * Utility task that simply returns pdTRUE if the task referenced by xTask is
 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
 * is in any other state.
 */
#if ( INCLUDE_vTaskSuspend == 1 )

        static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;

#endif /* INCLUDE_vTaskSuspend */

/*
 * Utility to ready all the lists used by the scheduler.    This is called
 * automatically upon the creation of the first task.
 */
static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;

/*
 * The idle task, which as all tasks is implemented as a never ending loop.
 * The idle task is automatically created and added to the ready lists upon
 * creation of the first user task.
 *
 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
 * language extensions.    The equivalent prototype for this function is:
 *
 * void prvIdleTask( void *pvParameters );
 *
 */
static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ) PRIVILEGED_FUNCTION;

/*
 * Utility to free all memory allocated by the scheduler to hold a TCB,
 * including the stack pointed to by the TCB.
 *
 * This does not free memory allocated by the task itself (i.e. memory
 * allocated by calls to pvPortMalloc from within the tasks application code).
 */
#if ( INCLUDE_vTaskDelete == 1 )

        static void prvDeleteTCB( TCB_t * pxTCB ) PRIVILEGED_FUNCTION;

#endif

/*
 * Used only by the idle task.    This checks to see if anything has been placed
 * in the list of tasks waiting to be deleted.    If so the task is cleaned up
 * and its TCB deleted.
 */
static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;

/*
 * The currently executing task is entering the Blocked state.    Add the task to
 * either the current or the overflow delayed task list.
 */
static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
                                                                                        const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;

/*
 * Fills an TaskStatus_t structure with information on each task that is
 * referenced from the pxList list (which may be a ready list, a delayed list,
 * a suspended list, etc.).
 *
 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
 * NORMAL APPLICATION CODE.
 */
#if ( configUSE_TRACE_FACILITY == 1 )

        static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t * pxTaskStatusArray,
                                                                                                         List_t * pxList,
                                                                                                         eTaskState eState ) PRIVILEGED_FUNCTION;

#endif

/*
 * Searches pxList for a task with name pcNameToQuery - returning a handle to
 * the task if it is found, or NULL if the task is not found.
 */
#if ( INCLUDE_xTaskGetHandle == 1 )

        static TCB_t * prvSearchForNameWithinSingleList( List_t * pxList,
                                                                                                         const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;

#endif

/*
 * When a task is created, the stack of the task is filled with a known value.
 * This function determines the 'high water mark' of the task stack by
 * determining how much of the stack remains at the original preset value.
 */
#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )

        static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;

#endif

/*
 * Return the amount of time, in ticks, that will pass before the kernel will
 * next move a task from the Blocked state to the Running state.
 *
 * This conditional compilation should use inequality to 0, not equality to 1.
 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
 * set to a value other than 1.
 */
#if ( configUSE_TICKLESS_IDLE != 0 )

        static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;

#endif

/*
 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
 * will exit the Blocked state.
 */
static void prvResetNextTaskUnblockTime( void ) PRIVILEGED_FUNCTION;

#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )

/*
 * Helper function used to pad task names with spaces when printing out
 * human readable tables of task information.
 */
        static char * prvWriteNameToBuffer( char * pcBuffer,
                                                                                const char * pcTaskName ) PRIVILEGED_FUNCTION;

#endif

/*
 * Called after a Task_t structure has been allocated either statically or
 * dynamically to fill in the structure's members.
 */
static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
                                                                    const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
                                                                    const uint32_t ulStackDepth,
                                                                    void * const pvParameters,
                                                                    UBaseType_t uxPriority,
                                                                    TaskHandle_t * const pxCreatedTask,
                                                                    TCB_t * pxNewTCB,
                                                                    const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;

/*
 * Called after a new task has been created and initialised to place the task
 * under the control of the scheduler.
 */
static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;

/*
 * freertos_tasks_c_additions_init() should only be called if the user definable
 * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
 * called by the function.
 */
#ifdef FREERTOS_TASKS_C_ADDITIONS_INIT

        static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;

#endif

/*-----------------------------------------------------------*/

#if ( configSUPPORT_STATIC_ALLOCATION == 1 )

        TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
                                                                        const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
                                                                        const uint32_t ulStackDepth,
                                                                        void * const pvParameters,
                                                                        UBaseType_t uxPriority,
                                                                        StackType_t * const puxStackBuffer,
                                                                        StaticTask_t * const pxTaskBuffer )
        {
                TCB_t * pxNewTCB;
                TaskHandle_t xReturn;

                configASSERT( puxStackBuffer != NULL );
                configASSERT( pxTaskBuffer != NULL );

                #if ( configASSERT_DEFINED == 1 )
                        {
                                /* Sanity check that the size of the structure used to declare a
                                 * variable of type StaticTask_t equals the size of the real task
                                 * structure. */
                                volatile size_t xSize = sizeof( StaticTask_t );
                                configASSERT( xSize == sizeof( TCB_t ) );
                                ( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */
                        }
                #endif /* configASSERT_DEFINED */

                if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
                {
                        /* The memory used for the task's TCB and stack are passed into this
                         * function - use them. */
                        pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
                        pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;

                        #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
                                {
                                        /* Tasks can be created statically or dynamically, so note this
                                         * task was created statically in case the task is later deleted. */
                                        pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
                                }
                        #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */

                        prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
                        prvAddNewTaskToReadyList( pxNewTCB );
                }
                else
                {
                        xReturn = NULL;
                }

                return xReturn;
        }

#endif /* SUPPORT_STATIC_ALLOCATION */
/*-----------------------------------------------------------*/

#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )

        BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition,
                                                                                        TaskHandle_t * pxCreatedTask )
        {
                TCB_t * pxNewTCB;
                BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;

                configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
                configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );

                if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
                {
                        /* Allocate space for the TCB.    Where the memory comes from depends
                         * on the implementation of the port malloc function and whether or
                         * not static allocation is being used. */
                        pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;

                        /* Store the stack location in the TCB. */
                        pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;

                        #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
                                {
                                        /* Tasks can be created statically or dynamically, so note this
                                         * task was created statically in case the task is later deleted. */
                                        pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
                                }
                        #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */

                        prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
                                                                    pxTaskDefinition->pcName,
                                                                    ( uint32_t ) pxTaskDefinition->usStackDepth,
                                                                    pxTaskDefinition->pvParameters,
                                                                    pxTaskDefinition->uxPriority,
                                                                    pxCreatedTask, pxNewTCB,
                                                                    pxTaskDefinition->xRegions );

                        prvAddNewTaskToReadyList( pxNewTCB );
                        xReturn = pdPASS;
                }

                return xReturn;
        }

#endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
/*-----------------------------------------------------------*/

#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )

        BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition,
                                                                            TaskHandle_t * pxCreatedTask )
        {
                TCB_t * pxNewTCB;
                BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;

                configASSERT( pxTaskDefinition->puxStackBuffer );

                if( pxTaskDefinition->puxStackBuffer != NULL )
                {
                        /* Allocate space for the TCB.    Where the memory comes from depends
                         * on the implementation of the port malloc function and whether or
                         * not static allocation is being used. */
                        pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );

                        if( pxNewTCB != NULL )
                        {
                                /* Store the stack location in the TCB. */
                                pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;

                                #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
                                        {
                                                /* Tasks can be created statically or dynamically, so note
                                                 * this task had a statically allocated stack in case it is
                                                 * later deleted.    The TCB was allocated dynamically. */
                                                pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
                                        }
                                #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */

                                prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
                                                                            pxTaskDefinition->pcName,
                                                                            ( uint32_t ) pxTaskDefinition->usStackDepth,
                                                                            pxTaskDefinition->pvParameters,
                                                                            pxTaskDefinition->uxPriority,
                                                                            pxCreatedTask, pxNewTCB,
                                                                            pxTaskDefinition->xRegions );

                                prvAddNewTaskToReadyList( pxNewTCB );
                                xReturn = pdPASS;
                        }
                }

                return xReturn;
        }

#endif /* portUSING_MPU_WRAPPERS */
/*-----------------------------------------------------------*/

#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )

        BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
                                                        const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
                                                        const configSTACK_DEPTH_TYPE usStackDepth,
                                                        void * const pvParameters,
                                                        UBaseType_t uxPriority,
                                                        TaskHandle_t * const pxCreatedTask )
        {
                TCB_t * pxNewTCB;
                BaseType_t xReturn;

                /* If the stack grows down then allocate the stack then the TCB so the stack
                 * does not grow into the TCB.    Likewise if the stack grows up then allocate
                 * the TCB then the stack. */
                #if ( portSTACK_GROWTH > 0 )
                        {
                                /* Allocate space for the TCB.    Where the memory comes from depends on
                                 * the implementation of the port malloc function and whether or not static
                                 * allocation is being used. */
                                pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );

                                if( pxNewTCB != NULL )
                                {
                                        /* Allocate space for the stack used by the task being created.
                                         * The base of the stack memory stored in the TCB so the task can
                                         * be deleted later if required. */
                                        pxNewTCB->pxStack = ( StackType_t * ) pvPortMallocStack( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */

                                        if( pxNewTCB->pxStack == NULL )
                                        {
                                                /* Could not allocate the stack.    Delete the allocated TCB. */
                                                vPortFree( pxNewTCB );
                                                pxNewTCB = NULL;
                                        }
                                }
                        }
                #else /* portSTACK_GROWTH */
                        {
                                StackType_t * pxStack;

                                /* Allocate space for the stack used by the task being created. */
                                pxStack = pvPortMallocStack( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */

                                if( pxStack != NULL )
                                {
                                        /* Allocate space for the TCB. */
                                        pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of TCB_t is always a pointer to the task's stack. */

                                        if( pxNewTCB != NULL )
                                        {
                                                /* Store the stack location in the TCB. */
                                                pxNewTCB->pxStack = pxStack;
                                        }
                                        else
                                        {
                                                /* The stack cannot be used as the TCB was not created.    Free
                                                 * it again. */
                                                vPortFreeStack( pxStack );
                                        }
                                }
                                else
                                {
                                        pxNewTCB = NULL;
                                }
                                
                        }
                #endif /* portSTACK_GROWTH */

                if( pxNewTCB != NULL )
                {
                        #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
                                {
                                        /* Tasks can be created statically or dynamically, so note this
                                         * task was created dynamically in case it is later deleted. */
                                        pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
                                }
                        #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */

                        prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
                        prvAddNewTaskToReadyList( pxNewTCB );
                        xReturn = pdPASS;
                }
                else
                {
                        xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
                }

                return xReturn;
        }

#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
/*-----------------------------------------------------------*/

static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
                                                                    const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
                                                                    const uint32_t ulStackDepth,
                                                                    void * const pvParameters,
                                                                    UBaseType_t uxPriority,
                                                                    TaskHandle_t * const pxCreatedTask,
                                                                    TCB_t * pxNewTCB,
                                                                    const MemoryRegion_t * const xRegions )
{
        StackType_t * pxTopOfStack;
        UBaseType_t x;

        #if ( portUSING_MPU_WRAPPERS == 1 )
                /* Should the task be created in privileged mode? */
                BaseType_t xRunPrivileged;

                if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
                {
                        xRunPrivileged = pdTRUE;
                }
                else
                {
                        xRunPrivileged = pdFALSE;
                }
                uxPriority &= ~portPRIVILEGE_BIT;
        #endif /* portUSING_MPU_WRAPPERS == 1 */

        /* Avoid dependency on memset() if it is not required. */
        #if ( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
                {
                        /* Fill the stack with a known value to assist debugging. */
                        ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
                }
        #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */

        /* Calculate the top of stack address.    This depends on whether the stack
         * grows from high memory to low (as per the 80x86) or vice versa.
         * portSTACK_GROWTH is used to make the result positive or negative as required
         * by the port. */
        #if ( portSTACK_GROWTH < 0 )
                {
                        pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] );
                        pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 !e9033 !e9078 MISRA exception.    Avoiding casts between pointers and integers is not practical.    Size differences accounted for using portPOINTER_SIZE_TYPE type.    Checked by assert(). */

                        /* Check the alignment of the calculated top of stack is correct. */
                        configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );

                        #if ( configRECORD_STACK_HIGH_ADDRESS == 1 )
                                {
                                        /* Also record the stack's high address, which may assist
                                         * debugging. */
                                        pxNewTCB->pxEndOfStack = pxTopOfStack;
                                }
                        #endif /* configRECORD_STACK_HIGH_ADDRESS */
                    pxNewTCB->uxSizeOfStack = ulStackDepth;   /*< Support For CmBacktrace >*/
                }
        #else /* portSTACK_GROWTH */
                {
                        pxTopOfStack = pxNewTCB->pxStack;

                        /* Check the alignment of the stack buffer is correct. */
                        configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );

                        /* The other extreme of the stack space is required if stack checking is
                         * performed. */
                        pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
                }
        #endif /* portSTACK_GROWTH */

        /* Store the task name in the TCB. */
        if( pcName != NULL )
        {
                for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
                {
                        pxNewTCB->pcTaskName[ x ] = pcName[ x ];

                        /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
                         * configMAX_TASK_NAME_LEN characters just in case the memory after the
                         * string is not accessible (extremely unlikely). */
                        if( pcName[ x ] == ( char ) 0x00 )
                        {
                                break;
                        }
                        else
                        {
                                mtCOVERAGE_TEST_MARKER();
                        }
                }

                /* Ensure the name string is terminated in the case that the string length
                 * was greater or equal to configMAX_TASK_NAME_LEN. */
                pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
        }
        else
        {
                /* The task has not been given a name, so just ensure there is a NULL
                 * terminator when it is read out. */
                pxNewTCB->pcTaskName[ 0 ] = 0x00;
        }

        /* This is used as an array index so must ensure it's not too large. */
        configASSERT( uxPriority < configMAX_PRIORITIES );

        if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
        {
                uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
        }
        else
        {
                mtCOVERAGE_TEST_MARKER();
        }

        pxNewTCB->uxPriority = uxPriority;
        #if ( configUSE_MUTEXES == 1 )
                {
                        pxNewTCB->uxBasePriority = uxPriority;
                        pxNewTCB->uxMutexesHeld = 0;
                }
        #endif /* configUSE_MUTEXES */

        vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
        vListInitialiseItem( &( pxNewTCB->xEventListItem ) );

        /* Set the pxNewTCB as a link back from the ListItem_t.    This is so we can get
         * back to    the containing TCB from a generic item in a list. */
        listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );

        /* Event lists are always in priority order. */
        listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
        listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );

        #if ( portCRITICAL_NESTING_IN_TCB == 1 )
                {
                        pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
                }
        #endif /* portCRITICAL_NESTING_IN_TCB */

        #if ( configUSE_APPLICATION_TASK_TAG == 1 )
                {
                        pxNewTCB->pxTaskTag = NULL;
                }
        #endif /* configUSE_APPLICATION_TASK_TAG */

        #if ( configGENERATE_RUN_TIME_STATS == 1 )
                {
                        pxNewTCB->ulRunTimeCounter = ( configRUN_TIME_COUNTER_TYPE ) 0;
                }
        #endif /* configGENERATE_RUN_TIME_STATS */

        #if ( portUSING_MPU_WRAPPERS == 1 )
                {
                        vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
                }
        #else
                {
                        /* Avoid compiler warning about unreferenced parameter. */
                        ( void ) xRegions;
                }
        #endif

        #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
                {
                        memset( ( void * ) &( pxNewTCB->pvThreadLocalStoragePointers[ 0 ] ), 0x00, sizeof( pxNewTCB->pvThreadLocalStoragePointers ) );
                }
        #endif

        #if ( configUSE_TASK_NOTIFICATIONS == 1 )
                {
                        memset( ( void * ) &( pxNewTCB->ulNotifiedValue[ 0 ] ), 0x00, sizeof( pxNewTCB->ulNotifiedValue ) );
                        memset( ( void * ) &( pxNewTCB->ucNotifyState[ 0 ] ), 0x00, sizeof( pxNewTCB->ucNotifyState ) );
                }
        #endif

        #if ( configUSE_NEWLIB_REENTRANT == 1 )
                {
                        /* Initialise this task's Newlib reent structure.
                         * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
                         * for additional information. */
                        _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
                }
        #endif

        #if ( INCLUDE_xTaskAbortDelay == 1 )
                {
                        pxNewTCB->ucDelayAborted = pdFALSE;
                }
        #endif

        /* Initialize the TCB stack to look as if the task was already running,
         * but had been interrupted by the scheduler.    The return address is set
         * to the start of the task function. Once the stack has been initialised
         * the top of stack variable is updated. */
        #if ( portUSING_MPU_WRAPPERS == 1 )
                {
                        /* If the port has capability to detect stack overflow,
                         * pass the stack end address to the stack initialization
                         * function as well. */
                        #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
                                {
                                        #if ( portSTACK_GROWTH < 0 )
                                                {
                                                        pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters, xRunPrivileged );
                                                }
                                        #else /* portSTACK_GROWTH */
                                                {
                                                        pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters, xRunPrivileged );
                                                }
                                        #endif /* portSTACK_GROWTH */
                                }
                        #else /* portHAS_STACK_OVERFLOW_CHECKING */
                                {
                                        pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
                                }
                        #endif /* portHAS_STACK_OVERFLOW_CHECKING */
                }
        #else /* portUSING_MPU_WRAPPERS */
                {
                        /* If the port has capability to detect stack overflow,
                         * pass the stack end address to the stack initialization
                         * function as well. */
                        #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
                                {
                                        #if ( portSTACK_GROWTH < 0 )
                                                {
                                                        pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters );
                                                }
                                        #else /* portSTACK_GROWTH */
                                                {
                                                        pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters );
                                                }
                                        #endif /* portSTACK_GROWTH */
                                }
                        #else /* portHAS_STACK_OVERFLOW_CHECKING */
                                {
                                        pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
                                }
                        #endif /* portHAS_STACK_OVERFLOW_CHECKING */
                }
        #endif /* portUSING_MPU_WRAPPERS */

        if( pxCreatedTask != NULL )
        {
                /* Pass the handle out in an anonymous way.    The handle can be used to
                 * change the created task's priority, delete the created task, etc.*/
                *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
        }
        else
        {
                mtCOVERAGE_TEST_MARKER();
        }
}
/*-----------------------------------------------------------*/

static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
{
        /* Ensure interrupts don't access the task lists while the lists are being
         * updated. */
        taskENTER_CRITICAL();
        {
                uxCurrentNumberOfTasks++;

                if( pxCurrentTCB == NULL )
                {
                        /* There are no other tasks, or all the other tasks are in
                         * the suspended state - make this the current task. */
                        pxCurrentTCB = pxNewTCB;

                        if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
                        {
                                /* This is the first task to be created so do the preliminary
                                 * initialisation required.    We will not recover if this call
                                 * fails, but we will report the failure. */
                                prvInitialiseTaskLists();
                        }
                        else
                        {
                                mtCOVERAGE_TEST_MARKER();
                        }
                }
                else
                {
                        /* If the scheduler is not already running, make this task the
                         * current task if it is the highest priority task to be created
                         * so far. */
                        if( xSchedulerRunning == pdFALSE )
                        {
                                if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
                                {
                                        pxCurrentTCB = pxNewTCB;
                                }
                                else
                                {
                                        mtCOVERAGE_TEST_MARKER();
                                }
                        }
                        else
                        {
                                mtCOVERAGE_TEST_MARKER();
                        }
                }

                uxTaskNumber++;

                #if ( configUSE_TRACE_FACILITY == 1 )
                        {
                                /* Add a counter into the TCB for tracing only. */
                                pxNewTCB->uxTCBNumber = uxTaskNumber;
                        }
                #endif /* configUSE_TRACE_FACILITY */
                traceTASK_CREATE( pxNewTCB );

                prvAddTaskToReadyList( pxNewTCB );

                portSETUP_TCB( pxNewTCB );
        }
        taskEXIT_CRITICAL();

        if( xSchedulerRunning != pdFALSE )
        {
                /* If the created task is of a higher priority than the current task
                 * then it should run now. */
                if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
                {
                        taskYIELD_IF_USING_PREEMPTION();
                }
                else
                {
                        mtCOVERAGE_TEST_MARKER();
                }
        }
        else
        {
                mtCOVERAGE_TEST_MARKER();
        }
}
/*-----------------------------------------------------------*/

#if ( INCLUDE_vTaskDelete == 1 )

        void vTaskDelete( TaskHandle_t xTaskToDelete )
        {
                TCB_t * pxTCB;

                taskENTER_CRITICAL();
                {
                        /* If null is passed in here then it is the calling task that is
                         * being deleted. */
                        pxTCB = prvGetTCBFromHandle( xTaskToDelete );

                        /* Remove task from the ready/delayed list. */
                        if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
                        {
                                taskRESET_READY_PRIORITY( pxTCB->uxPriority );
                        }
                        else
                        {
                                mtCOVERAGE_TEST_MARKER();
                        }

                        /* Is the task waiting on an event also? */
                        if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
                        {
                                ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
                        }
                        else
                        {
                                mtCOVERAGE_TEST_MARKER();
                        }

                        /* Increment the uxTaskNumber also so kernel aware debuggers can
                         * detect that the task lists need re-generating.    This is done before
                         * portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
                         * not return. */
                        uxTaskNumber++;

                        if( pxTCB == pxCurrentTCB )
                        {
                                /* A task is deleting itself.    This cannot complete within the
                                 * task itself, as a context switch to another task is required.
                                 * Place the task in the termination list.    The idle task will
                                 * check the termination list and free up any memory allocated by
                                 * the scheduler for the TCB and stack of the deleted task. */
                                vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );

                                /* Increment the ucTasksDeleted variable so the idle task knows
                                 * there is a task that has been deleted and that it should therefore
                                 * check the xTasksWaitingTermination list. */
                                ++uxDeletedTasksWaitingCleanUp;

                                /* Call the delete hook before portPRE_TASK_DELETE_HOOK() as
                                 * portPRE_TASK_DELETE_HOOK() does not return in the Win32 port. */
                                traceTASK_DELETE( pxTCB );

                                /* The pre-delete hook is primarily for the Windows simulator,
                                 * in which Windows specific clean up operations are performed,
                                 * after which it is not possible to yield away from this task -
                                 * hence xYieldPending is used to latch that a context switch is
                                 * required. */
                                portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
                        }
                        else
                        {
                                --uxCurrentNumberOfTasks;
                                traceTASK_DELETE( pxTCB );

                                /* Reset the next expected unblock time in case it referred to
                                 * the task that has just been deleted. */
                                prvResetNextTaskUnblockTime();
                        }
                }
                taskEXIT_CRITICAL();

                /* If the task is not deleting itself, call prvDeleteTCB from outside of
                 * critical section. If a task deletes itself, prvDeleteTCB is called
                 * from prvCheckTasksWaitingTermination which is called from Idle task. */
                if( pxTCB != pxCurrentTCB )
                {
                        prvDeleteTCB( pxTCB );
                }

                /* Force a reschedule if it is the currently running task that has just
                 * been deleted. */
                if( xSchedulerRunning != pdFALSE )
                {
                        if( pxTCB == pxCurrentTCB )
                        {
                                configASSERT( uxSchedulerSuspended == 0 );
                                portYIELD_WITHIN_API();
                        }
                        else
                        {
                                mtCOVERAGE_TEST_MARKER();
                        }
                }
        }

#endif /* INCLUDE_vTaskDelete */
/*-----------------------------------------------------------*/

#if ( INCLUDE_xTaskDelayUntil == 1 )

        BaseType_t xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
                                                                const TickType_t xTimeIncrement )
        {
                TickType_t xTimeToWake;
                BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;

                configASSERT( pxPreviousWakeTime );
                configASSERT( ( xTimeIncrement > 0U ) );
                configASSERT( uxSchedulerSuspended == 0 );

                vTaskSuspendAll();
                {
                        /* Minor optimisation.    The tick count cannot change in this
                         * block. */
                        const TickType_t xConstTickCount = xTickCount;

                        /* Generate the tick time at which the task wants to wake. */
                        xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;

                        if( xConstTickCount < *pxPreviousWakeTime )
                        {
                                /* The tick count has overflowed since this function was
                                 * lasted called.    In this case the only time we should ever
                                 * actually delay is if the wake time has also    overflowed,
                                 * and the wake time is greater than the tick time.    When this
                                 * is the case it is as if neither time had overflowed. */
                                if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
                                {
                                        xShouldDelay = pdTRUE;
                                }
                                else
                                {
                                        mtCOVERAGE_TEST_MARKER();
                                }
                        }
                        else
                        {
                                /* The tick time has not overflowed.    In this case we will
                                 * delay if either the wake time has overflowed, and/or the
                                 * tick time is less than the wake time. */
                                if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
                                {
                                        xShouldDelay = pdTRUE;
                                }
                                else
                                {
                                        mtCOVERAGE_TEST_MARKER();
                                }
                        }

                        /* Update the wake time ready for the next call. */
                        *pxPreviousWakeTime = xTimeToWake;

                        if( xShouldDelay != pdFALSE )
                        {
                                traceTASK_DELAY_UNTIL( xTimeToWake );

                                /* prvAddCurrentTaskToDelayedList() needs the block time, not
                                 * the time to wake, so subtract the current tick count. */
                                prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
                        }
                        else
                        {
                                mtCOVERAGE_TEST_MARKER();
                        }
                }
                xAlreadyYielded = xTaskResumeAll();

                /* Force a reschedule if xTaskResumeAll has not already done so, we may
                 * have put ourselves to sleep. */
                if( xAlreadyYielded == pdFALSE )
                {
                        portYIELD_WITHIN_API();
                }
                else
                {
                        mtCOVERAGE_TEST_MARKER();
                }

                return xShouldDelay;
        }

#endif /* INCLUDE_xTaskDelayUntil */
/*-----------------------------------------------------------*/

#if ( INCLUDE_vTaskDelay == 1 )

        void vTaskDelay( const TickType_t xTicksToDelay )
        {
                BaseType_t xAlreadyYielded = pdFALSE;

                /* A delay time of zero just forces a reschedule. */
                if( xTicksToDelay > ( TickType_t ) 0U )
                {
                        configASSERT( uxSchedulerSuspended == 0 );
                        vTaskSuspendAll();
                        {
                                traceTASK_DELAY();

                                /* A task that is removed from the event list while the
                                 * scheduler is suspended will not get placed in the ready
                                 * list or removed from the blocked list until the scheduler
                                 * is resumed.
                                 *
                                 * This task cannot be in an event list as it is the currently
                                 * executing task. */
                                prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
                        }
                        xAlreadyYielded = xTaskResumeAll();
                }
                else
                {
                        mtCOVERAGE_TEST_MARKER();
                }

                /* Force a reschedule if xTaskResumeAll has not already done so, we may
                 * have put ourselves to sleep. */
                if( xAlreadyYielded == pdFALSE )
                {
                        portYIELD_WITHIN_API();
                }
                else
                {
                        mtCOVERAGE_TEST_MARKER();
                }
        }

#endif /* INCLUDE_vTaskDelay */
/*-----------------------------------------------------------*/

#if ( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_xTaskAbortDelay == 1 ) )

        eTaskState eTaskGetState( TaskHandle_t xTask )
        {
                eTaskState eReturn;
                List_t const * pxStateList, * pxDelayedList, * pxOverflowedDelayedList;
                const TCB_t * const pxTCB = xTask;

                configASSERT( pxTCB );

                if( pxTCB == pxCurrentTCB )
                {
                        /* The task calling this function is querying its own state. */
                        eReturn = eRunning;
                }
                else
                {
                        taskENTER_CRITICAL();
                        {
                                pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
                                pxDelayedList = pxDelayedTaskList;
                                pxOverflowedDelayedList = pxOverflowDelayedTaskList;
                        }
                        taskEXIT_CRITICAL();

                        if( ( pxStateList == pxDelayedList ) || ( pxStateList == pxOverflowedDelayedList ) )
                        {
                                /* The task being queried is referenced from one of the Blocked
                                 * lists. */
                                eReturn = eBlocked;
                        }

                        #if ( INCLUDE_vTaskSuspend == 1 )
                                else if( pxStateList == &xSuspendedTaskList )
                                {
                                        /* The task being queried is referenced from the suspended
                                         * list.    Is it genuinely suspended or is it blocked
                                         * indefinitely? */
                                        if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
                                        {
                                                #if ( configUSE_TASK_NOTIFICATIONS == 1 )
                                                        {
                                                                BaseType_t x;

                                                                /* The task does not appear on the event list item of
                                                                 * and of the RTOS objects, but could still be in the
                                                                 * blocked state if it is waiting on its notification
                                                                 * rather than waiting on an object.    If not, is
                                                                 * suspended. */
                                                                eReturn = eSuspended;

                                                                for( x = 0; x < configTASK_NOTIFICATION_ARRAY_ENTRIES; x++ )
                                                                {
                                                                        if( pxTCB->ucNotifyState[ x ] == taskWAITING_NOTIFICATION )
                                                                        {
                                                                                eReturn = eBlocked;
                                                                                break;
                                                                        }
                                                                }
                                                        }
                                                #else /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
                                                        {
                                                                eReturn = eSuspended;
                                                        }
                                                #endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
                                        }
                                        else
                                        {
                                                eReturn = eBlocked;
                                        }
                                }
                        #endif /* if ( INCLUDE_vTaskSuspend == 1 ) */

                        #if ( INCLUDE_vTaskDelete == 1 )
                                else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
                                {
                                        /* The task being queried is referenced from the deleted
                                         * tasks list, or it is not referenced from any lists at
                                         * all. */
                                        eReturn = eDeleted;
                                }
                        #endif

                        else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
                        {
                                /* If the task is not in any other state, it must be in the
                                 * Ready (including pending ready) state. */
                                eReturn = eReady;
                        }
                }

                return eReturn;
        } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */

#endif /* INCLUDE_eTaskGetState */
/*-----------------------------------------------------------*/

#if ( INCLUDE_uxTaskPriorityGet == 1 )

        UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask )
        {
                TCB_t const * pxTCB;
                UBaseType_t uxReturn;

                taskENTER_CRITICAL();
                {
                        /* If null is passed in here then it is the priority of the task
                         * that called uxTaskPriorityGet() that is being queried. */
                        pxTCB = prvGetTCBFromHandle( xTask );
                        uxReturn = pxTCB->uxPriority;
                }
                taskEXIT_CRITICAL();

                return uxReturn;
        }

#endif /* INCLUDE_uxTaskPriorityGet */
/*-----------------------------------------------------------*/

#if ( INCLUDE_uxTaskPriorityGet == 1 )

        UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask )
        {
                TCB_t const * pxTCB;
                UBaseType_t uxReturn, uxSavedInterruptState;

                /* RTOS ports that support interrupt nesting have the concept of a
                 * maximum    system call (or maximum API call) interrupt priority.
                 * Interrupts that are    above the maximum system call priority are keep
                 * permanently enabled, even when the RTOS kernel is in a critical section,
                 * but cannot make any calls to FreeRTOS API functions.    If configASSERT()
                 * is defined in FreeRTOSConfig.h then
                 * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
                 * failure if a FreeRTOS API function is called from an interrupt that has
                 * been assigned a priority above the configured maximum system call
                 * priority.    Only FreeRTOS functions that end in FromISR can be called
                 * from interrupts    that have been assigned a priority at or (logically)
                 * below the maximum system call interrupt priority.    FreeRTOS maintains a
                 * separate interrupt safe API to ensure interrupt entry is as fast and as
                 * simple as possible.    More information (albeit Cortex-M specific) is
                 * provided on the following link:
                 * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
                portASSERT_IF_INTERRUPT_PRIORITY_INVALID();

                uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
                {
                        /* If null is passed in here then it is the priority of the calling
                         * task that is being queried. */
                        pxTCB = prvGetTCBFromHandle( xTask );
                        uxReturn = pxTCB->uxPriority;
                }
                portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );

                return uxReturn;
        }

#endif /* INCLUDE_uxTaskPriorityGet */
/*-----------------------------------------------------------*/

#if ( INCLUDE_vTaskPrioritySet == 1 )

        void vTaskPrioritySet( TaskHandle_t xTask,
                                                     UBaseType_t uxNewPriority )
        {
                TCB_t * pxTCB;
                UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
                BaseType_t xYieldRequired = pdFALSE;

                configASSERT( uxNewPriority < configMAX_PRIORITIES );

                /* Ensure the new priority is valid. */
                if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
                {
                        uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
                }
                else
                {
                        mtCOVERAGE_TEST_MARKER();
                }

                taskENTER_CRITICAL();
                {
                        /* If null is passed in here then it is the priority of the calling
                         * task that is being changed. */
                        pxTCB = prvGetTCBFromHandle( xTask );

                        traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );

                        #if ( configUSE_MUTEXES == 1 )
                                {
                                        uxCurrentBasePriority = pxTCB->uxBasePriority;
                                }
                        #else
                                {
                                        uxCurrentBasePriority = pxTCB->uxPriority;
                                }
                        #endif

                        if( uxCurrentBasePriority != uxNewPriority )
                        {
                                /* The priority change may have readied a task of higher
                                 * priority than the calling task. */
                                if( uxNewPriority > uxCurrentBasePriority )
                                {
                                        if( pxTCB != pxCurrentTCB )
                                        {
                                                /* The priority of a task other than the currently
                                                 * running task is being raised.    Is the priority being
                                                 * raised above that of the running task? */
                                                if( uxNewPriority >= pxCurrentTCB->uxPriority )
                                                {
                                                        xYieldRequired = pdTRUE;
                                                }
                                                else
                                                {
                                                        mtCOVERAGE_TEST_MARKER();
                                                }
                                        }
                                        else
                                        {
                                                /* The priority of the running task is being raised,
                                                 * but the running task must already be the highest
                                                 * priority task able to run so no yield is required. */
                                        }
                                }
                                else if( pxTCB == pxCurrentTCB )
                                {
                                        /* Setting the priority of the running task down means
                                         * there may now be another task of higher priority that
                                         * is ready to execute. */
                                        xYieldRequired = pdTRUE;
                                }
                                else
                                {
                                        /* Setting the priority of any other task down does not
                                         * require a yield as the running task must be above the
                                         * new priority of the task being modified. */
                                }

                                /* Remember the ready list the task might be referenced from
                                 * before its uxPriority member is changed so the
                                 * taskRESET_READY_PRIORITY() macro can function correctly. */
                                uxPriorityUsedOnEntry = pxTCB->uxPriority;

                                #if ( configUSE_MUTEXES == 1 )
                                        {
                                                /* Only change the priority being used if the task is not
                                                 * currently using an inherited priority. */
                                                if( pxTCB->uxBasePriority == pxTCB->uxPriority )
                                                {
                                                        pxTCB->uxPriority = uxNewPriority;
                                                }
                                                else
                                                {
                                                        mtCOVERAGE_TEST_MARKER();
                                                }

                                                /* The base priority gets set whatever. */
                                                pxTCB->uxBasePriority = uxNewPriority;
                                        }
                                #else /* if ( configUSE_MUTEXES == 1 ) */
                                        {
                                                pxTCB->uxPriority = uxNewPriority;
                                        }
                                #endif /* if ( configUSE_MUTEXES == 1 ) */

                                /* Only reset the event list item value if the value is not
                                 * being used for anything else. */
                                if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
                                {
                                        listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
                                }
                                else
                                {
                                        mtCOVERAGE_TEST_MARKER();
                                }

                                /* If the task is in the blocked or suspended list we need do
                                 * nothing more than change its priority variable. However, if
                                 * the task is in a ready list it needs to be removed and placed
                                 * in the list appropriate to its new priority. */
                                if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
                                {
                                        /* The task is currently in its ready list - remove before
                                         * adding it to its new ready list.    As we are in a critical
                                         * section we can do this even if the scheduler is suspended. */
                                        if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
                                        {
                                                /* It is known that the task is in its ready list so
                                                 * there is no need to check again and the port level
                                                 * reset macro can be called directly. */
                                                portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
                                        }
                                        else
                                        {
                                                mtCOVERAGE_TEST_MARKER();
                                        }

                                        prvAddTaskToReadyList( pxTCB );
                                }
                                else
                                {
                                        mtCOVERAGE_TEST_MARKER();
                                }

                                if( xYieldRequired != pdFALSE )
                                {
                                        taskYIELD_IF_USING_PREEMPTION();
                                }
                                else
                                {
                                        mtCOVERAGE_TEST_MARKER();
                                }

                                /* Remove compiler warning about unused variables when the port
                                 * optimised task selection is not being used. */
                                ( void ) uxPriorityUsedOnEntry;
                        }
                }
                taskEXIT_CRITICAL();
        }

#endif /* INCLUDE_vTaskPrioritySet */
/*-----------------------------------------------------------*/

#if ( INCLUDE_vTaskSuspend == 1 )

        void vTaskSuspend( TaskHandle_t xTaskToSuspend )
        {
                TCB_t * pxTCB;

                taskENTER_CRITICAL();
                {
                        /* If null is passed in here then it is the running task that is
                         * being suspended. */
                        pxTCB = prvGetTCBFromHandle( xTaskToSuspend );

                        traceTASK_SUSPEND( pxTCB );

                        /* Remove task from the ready/delayed list and place in the
                         * suspended list. */
                        if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
                        {
                                taskRESET_READY_PRIORITY( pxTCB->uxPriority );
                        }
                        else
                        {
                                mtCOVERAGE_TEST_MARKER();
                        }

                        /* Is the task waiting on an event also? */
                        if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
                        {
                                ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
                        }
                        else
                        {
                                mtCOVERAGE_TEST_MARKER();
                        }

                        vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );

                        #if ( configUSE_TASK_NOTIFICATIONS == 1 )
                                {
                                        BaseType_t x;

                                        for( x = 0; x < configTASK_NOTIFICATION_ARRAY_ENTRIES; x++ )
                                        {
                                                if( pxTCB->ucNotifyState[ x ] == taskWAITING_NOTIFICATION )
                                                {
                                                        /* The task was blocked to wait for a notification, but is
                                                         * now suspended, so no notification was received. */
                                                        pxTCB->ucNotifyState[ x ] = taskNOT_WAITING_NOTIFICATION;
                                                }
                                        }
                                }
                        #endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
                }
                taskEXIT_CRITICAL();

                if( xSchedulerRunning != pdFALSE )
                {
                        /* Reset the next expected unblock time in case it referred to the
                         * task that is now in the Suspended state. */
                        taskENTER_CRITICAL();
                        {
                                prvResetNextTaskUnblockTime();
                        }
                        taskEXIT_CRITICAL();
                }
                else
                {
                        mtCOVERAGE_TEST_MARKER();
                }

                if( pxTCB == pxCurrentTCB )
                {
                        if( xSchedulerRunning != pdFALSE )
                        {
                                /* The current task has just been suspended. */
                                configASSERT( uxSchedulerSuspended == 0 );
                                portYIELD_WITHIN_API();
                        }
                        else
                        {
                                /* The scheduler is not running, but the task that was pointed
                                 * to by pxCurrentTCB has just been suspended and pxCurrentTCB
                                 * must be adjusted to point to a different task. */
                                if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) /*lint !e931 Right has no side effect, just volatile. */
                                {
                                        /* No other tasks are ready, so set pxCurrentTCB back to
                                         * NULL so when the next task is created pxCurrentTCB will
                                         * be set to point to it no matter what its relative priority
                                         * is. */
                                        pxCurrentTCB = NULL;
                                }
                                else
                                {
                                        vTaskSwitchContext();
                                }
                        }
                }
                else
                {
                        mtCOVERAGE_TEST_MARKER();
                }
        }

#endif /* INCLUDE_vTaskSuspend */
/*-----------------------------------------------------------*/

#if ( INCLUDE_vTaskSuspend == 1 )

        static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
        {
                BaseType_t xReturn = pdFALSE;
                const TCB_t * const pxTCB = xTask;

                /* Accesses xPendingReadyList so must be called from a critical
                 * section. */

                /* It does not make sense to check if the calling task is suspended. */
                configASSERT( xTask );

                /* Is the task being resumed actually in the suspended list? */
                if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
                {
                        /* Has the task already been resumed from within an ISR? */
                        if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
                        {
                                /* Is it in the suspended list because it is in the Suspended
                                 * state, or because is is blocked with no timeout? */
                                if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961.    The cast is only redundant when NULL is used. */
                                {
                                        xReturn = pdTRUE;
                                }
                                else
                                {
                                        mtCOVERAGE_TEST_MARKER();
                                }
                        }
                        else
                        {
                                mtCOVERAGE_TEST_MARKER();
                        }
                }
                else
                {
                        mtCOVERAGE_TEST_MARKER();
                }

                return xReturn;
        } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */

#endif /* INCLUDE_vTaskSuspend */
/*-----------------------------------------------------------*/

#if ( INCLUDE_vTaskSuspend == 1 )

        void vTaskResume( TaskHandle_t xTaskToResume )
        {
                TCB_t * const pxTCB = xTaskToResume;

                /* It does not make sense to resume the calling task. */
                configASSERT( xTaskToResume );

                /* The parameter cannot be NULL as it is impossible to resume the
                 * currently executing task. */
                if( ( pxTCB != pxCurrentTCB ) && ( pxTCB != NULL ) )
                {
                        taskENTER_CRITICAL();
                        {
                                if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
                                {
                                        traceTASK_RESUME( pxTCB );

                                        /* The ready list can be accessed even if the scheduler is
                                         * suspended because this is inside a critical section. */
                                        ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
                                        prvAddTaskToReadyList( pxTCB );

                                        /* A higher priority task may have just been resumed. */
                                        if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
                                        {
                                                /* This yield may not cause the task just resumed to run,
                                                 * but will leave the lists in the correct state for the
                                                 * next yield. */
                                                taskYIELD_IF_USING_PREEMPTION();
                                        }
                                        else
                                        {
                                                mtCOVERAGE_TEST_MARKER();
                                        }
                                }
                                else
                                {
                                        mtCOVERAGE_TEST_MARKER();
                                }
                        }
                        taskEXIT_CRITICAL();
                }
                else
                {
                        mtCOVERAGE_TEST_MARKER();
                }
        }

#endif /* INCLUDE_vTaskSuspend */

/*-----------------------------------------------------------*/

#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )

        BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
        {
                BaseType_t xYieldRequired = pdFALSE;
                TCB_t * const pxTCB = xTaskToResume;
                UBaseType_t uxSavedInterruptStatus;

                configASSERT( xTaskToResume );

                /* RTOS ports that support interrupt nesting have the concept of a
                 * maximum    system call (or maximum API call) interrupt priority.
                 * Interrupts that are    above the maximum system call priority are keep
                 * permanently enabled, even when the RTOS kernel is in a critical section,
                 * but cannot make any calls to FreeRTOS API functions.    If configASSERT()
                 * is defined in FreeRTOSConfig.h then
                 * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
                 * failure if a FreeRTOS API function is called from an interrupt that has
                 * been assigned a priority above the configured maximum system call
                 * priority.    Only FreeRTOS functions that end in FromISR can be called
                 * from interrupts    that have been assigned a priority at or (logically)
                 * below the maximum system call interrupt priority.    FreeRTOS maintains a
                 * separate interrupt safe API to ensure interrupt entry is as fast and as
                 * simple as possible.    More information (albeit Cortex-M specific) is
                 * provided on the following link:
                 * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
                portASSERT_IF_INTERRUPT_PRIORITY_INVALID();

                uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
                {
                        if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
                        {
                                traceTASK_RESUME_FROM_ISR( pxTCB );

                                /* Check the ready lists can be accessed. */
                                if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
                                {
                                        /* Ready lists can be accessed so move the task from the
                                         * suspended list to the ready list directly. */
                                        if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
                                        {
                                                xYieldRequired = pdTRUE;

                                                /* Mark that a yield is pending in case the user is not
                                                 * using the return value to initiate a context switch
                                                 * from the ISR using portYIELD_FROM_ISR. */
                                                xYieldPending = pdTRUE;
                                        }
                                        else
                                        {
                                                mtCOVERAGE_TEST_MARKER();
                                        }

                                        ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
                                        prvAddTaskToReadyList( pxTCB );
                                }
                                else
                                {
                                        /* The delayed or ready lists cannot be accessed so the task
                                         * is held in the pending ready list until the scheduler is
                                         * unsuspended. */
                                        vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
                                }
                        }
                        else
                        {
                                mtCOVERAGE_TEST_MARKER();
                        }
                }
                portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );

                return xYieldRequired;
        }

#endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
/*-----------------------------------------------------------*/

void vTaskStartScheduler( void )
{
        BaseType_t xReturn;

        /* Add the idle task at the lowest priority. */
        #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
                {
                        StaticTask_t * pxIdleTaskTCBBuffer = NULL;
                        StackType_t * pxIdleTaskStackBuffer = NULL;
                        uint32_t ulIdleTaskStackSize;

                        /* The Idle task is created using user provided RAM - obtain the
                         * address of the RAM then create the idle task. */
                        vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
                        xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
                                                                                                 configIDLE_TASK_NAME,
                                                                                                 ulIdleTaskStackSize,
                                                                                                 ( void * ) NULL,             /*lint !e961.    The cast is not redundant for all compilers. */
                                                                                                 portPRIVILEGE_BIT,         /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
                                                                                                 pxIdleTaskStackBuffer,
                                                                                                 pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */

                        if( xIdleTaskHandle != NULL )
                        {
                                xReturn = pdPASS;
                        }
                        else
                        {
                                xReturn = pdFAIL;
                        }
                }
        #else /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
                {
                        /* The Idle task is being created using dynamically allocated RAM. */
                        xReturn = xTaskCreate( prvIdleTask,
                                                                     configIDLE_TASK_NAME,
                                                                     configMINIMAL_STACK_SIZE,
                                                                     ( void * ) NULL,
                                                                     portPRIVILEGE_BIT,    /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
                                                                     &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
                }
        #endif /* configSUPPORT_STATIC_ALLOCATION */

        #if ( configUSE_TIMERS == 1 )
                {
                        if( xReturn == pdPASS )
                        {
                                xReturn = xTimerCreateTimerTask();
                        }
                        else
                        {
                                mtCOVERAGE_TEST_MARKER();
                        }
                }
        #endif /* configUSE_TIMERS */

        if( xReturn == pdPASS )
        {
                /* freertos_tasks_c_additions_init() should only be called if the user
                 * definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
                 * the only macro called by the function. */
                #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
                        {
                                freertos_tasks_c_additions_init();
                        }
                #endif

                /* Interrupts are turned off here, to ensure a tick does not occur
                 * before or during the call to xPortStartScheduler().    The stacks of
                 * the created tasks contain a status word with interrupts switched on
                 * so interrupts will automatically get re-enabled when the first task
                 * starts to run. */
                portDISABLE_INTERRUPTS();

                #if ( configUSE_NEWLIB_REENTRANT == 1 )
                        {
                                /* Switch Newlib's _impure_ptr variable to point to the _reent
                                 * structure specific to the task that will run first.
                                 * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
                                 * for additional information. */
                                _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
                        }
                #endif /* configUSE_NEWLIB_REENTRANT */

                xNextTaskUnblockTime = portMAX_DELAY;
                xSchedulerRunning = pdTRUE;
                xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;

                /* If configGENERATE_RUN_TIME_STATS is defined then the following
                 * macro must be defined to configure the timer/counter used to generate
                 * the run time counter time base.     NOTE:    If configGENERATE_RUN_TIME_STATS
                 * is set to 0 and the following line fails to build then ensure you do not
                 * have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
                 * FreeRTOSConfig.h file. */
                portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();

                traceTASK_SWITCHED_IN();

                /* Setting up the timer tick is hardware specific and thus in the
                 * portable interface. */
                if( xPortStartScheduler() != pdFALSE )
                {
                        /* Should not reach here as if the scheduler is running the
                         * function will not return. */
                }
                else
                {
                        /* Should only reach here if a task calls xTaskEndScheduler(). */
                }
        }
        else
        {
                /* This line will only be reached if the kernel could not be started,
                 * because there was not enough FreeRTOS heap to create the idle task
                 * or the timer task. */
                configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
        }

        /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
         * meaning xIdleTaskHandle is not used anywhere else. */
        ( void ) xIdleTaskHandle;

        /* OpenOCD makes use of uxTopUsedPriority for thread debugging. Prevent uxTopUsedPriority
         * from getting optimized out as it is no longer used by the kernel. */
        ( void ) uxTopUsedPriority;
}
/*-----------------------------------------------------------*/

void vTaskEndScheduler( void )
{
        /* Stop the scheduler interrupts and call the portable scheduler end
         * routine so the original ISRs can be restored if necessary.    The port
         * layer must ensure interrupts enable    bit is left in the correct state. */
        portDISABLE_INTERRUPTS();
        xSchedulerRunning = pdFALSE;
        vPortEndScheduler();
}
/*----------------------------------------------------------*/

void vTaskSuspendAll( void )
{
        /* A critical section is not required as the variable is of type
         * BaseType_t.    Please read Richard Barry's reply in the following link to a
         * post in the FreeRTOS support forum before reporting this as a bug! -
         * https://goo.gl/wu4acr */

        /* portSOFTWARE_BARRIER() is only implemented for emulated/simulated ports that
         * do not otherwise exhibit real time behaviour. */
        portSOFTWARE_BARRIER();

        /* The scheduler is suspended if uxSchedulerSuspended is non-zero.    An increment
         * is used to allow calls to vTaskSuspendAll() to nest. */
        ++uxSchedulerSuspended;

        /* Enforces ordering for ports and optimised compilers that may otherwise place
         * the above increment elsewhere. */
        portMEMORY_BARRIER();
}
/*----------------------------------------------------------*/

#if ( configUSE_TICKLESS_IDLE != 0 )

        static TickType_t prvGetExpectedIdleTime( void )
        {
                TickType_t xReturn;
                UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;

                /* uxHigherPriorityReadyTasks takes care of the case where
                 * configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
                 * task that are in the Ready state, even though the idle task is
                 * running. */
                #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
                        {
                                if( uxTopReadyPriority > tskIDLE_PRIORITY )
                                {
                                        uxHigherPriorityReadyTasks = pdTRUE;
                                }
                        }
                #else
                        {
                                const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;

                                /* When port optimised task selection is used the uxTopReadyPriority
                                 * variable is used as a bit map.    If bits other than the least
                                 * significant bit are set then there are tasks that have a priority
                                 * above the idle priority that are in the Ready state.    This takes
                                 * care of the case where the co-operative scheduler is in use. */
                                if( uxTopReadyPriority > uxLeastSignificantBit )
                                {
                                        uxHigherPriorityReadyTasks = pdTRUE;
                                }
                        }
                #endif /* if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 ) */

                if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
                {
                        xReturn = 0;
                }
                else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
                {
                        /* There are other idle priority tasks in the ready state.    If
                         * time slicing is used then the very next tick interrupt must be
                         * processed. */
                        xReturn = 0;
                }
                else if( uxHigherPriorityReadyTasks != pdFALSE )
                {
                        /* There are tasks in the Ready state that have a priority above the
                         * idle priority.    This path can only be reached if
                         * configUSE_PREEMPTION is 0. */
                        xReturn = 0;
                }
                else
                {
                        xReturn = xNextTaskUnblockTime - xTickCount;
                }

                return xReturn;
        }

#endif /* configUSE_TICKLESS_IDLE */
/*----------------------------------------------------------*/

BaseType_t xTaskResumeAll( void )
{
        TCB_t * pxTCB = NULL;
        BaseType_t xAlreadyYielded = pdFALSE;

        /* If uxSchedulerSuspended is zero then this function does not match a
         * previous call to vTaskSuspendAll(). */
        configASSERT( uxSchedulerSuspended );

        /* It is possible that an ISR caused a task to be removed from an event
         * list while the scheduler was suspended.    If this was the case then the
         * removed task will have been added to the xPendingReadyList.    Once the
         * scheduler has been resumed it is safe to move all the pending ready
         * tasks from this list into their appropriate ready list. */
        taskENTER_CRITICAL();
        {
                --uxSchedulerSuspended;

                if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
                {
                        if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
                        {
                                /* Move any readied tasks from the pending list into the
                                 * appropriate ready list. */
                                while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
                                {
                                        pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.    Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
                                        listREMOVE_ITEM( &( pxTCB->xEventListItem ) );
                                        portMEMORY_BARRIER();
                                        listREMOVE_ITEM( &( pxTCB->xStateListItem ) );
                                        prvAddTaskToReadyList( pxTCB );

                                        /* If the moved task has a priority higher than or equal to
                                         * the current task then a yield must be performed. */
                                        if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
                                        {
                                                xYieldPending = pdTRUE;
                                        }
                                        else
                                        {
                                                mtCOVERAGE_TEST_MARKER();
                                        }
                                }

                                if( pxTCB != NULL )
                                {
                                        /* A task was unblocked while the scheduler was suspended,
                                         * which may have prevented the next unblock time from being
                                         * re-calculated, in which case re-calculate it now.    Mainly
                                         * important for low power tickless implementations, where
                                         * this can prevent an unnecessary exit from low power
                                         * state. */
                                        prvResetNextTaskUnblockTime();
                                }

                                /* If any ticks occurred while the scheduler was suspended then
                                 * they should be processed now.    This ensures the tick count does
                                 * not    slip, and that any delayed tasks are resumed at the correct
                                 * time. */
                                {
                                        TickType_t xPendedCounts = xPendedTicks; /* Non-volatile copy. */

                                        if( xPendedCounts > ( TickType_t ) 0U )
                                        {
                                                do
                                                {
                                                        if( xTaskIncrementTick() != pdFALSE )
                                                        {
                                                                xYieldPending = pdTRUE;
                                                        }
                                                        else
                                                        {
                                                                mtCOVERAGE_TEST_MARKER();
                                                        }

                                                        --xPendedCounts;
                                                } while( xPendedCounts > ( TickType_t ) 0U );

                                                xPendedTicks = 0;
                                        }
                                        else
                                        {
                                                mtCOVERAGE_TEST_MARKER();
                                        }
                                }

                                if( xYieldPending != pdFALSE )
                                {
                                        #if ( configUSE_PREEMPTION != 0 )
                                                {
                                                        xAlreadyYielded = pdTRUE;
                                                }
                                        #endif
                                        taskYIELD_IF_USING_PREEMPTION();
                                }
                                else
                                {
                                        mtCOVERAGE_TEST_MARKER();
                                }
                        }
                }
                else
                {
                        mtCOVERAGE_TEST_MARKER();
                }
        }
        taskEXIT_CRITICAL();

        return xAlreadyYielded;
}
/*-----------------------------------------------------------*/

TickType_t xTaskGetTickCount( void )
{
        TickType_t xTicks;

        /* Critical section required if running on a 16 bit processor. */
        portTICK_TYPE_ENTER_CRITICAL();
        {
                xTicks = xTickCount;
        }
        portTICK_TYPE_EXIT_CRITICAL();

        return xTicks;
}
/*-----------------------------------------------------------*/

TickType_t xTaskGetTickCountFromISR( void )
{
        TickType_t xReturn;
        UBaseType_t uxSavedInterruptStatus;

        /* RTOS ports that support interrupt nesting have the concept of a maximum
         * system call (or maximum API call) interrupt priority.    Interrupts that are
         * above the maximum system call priority are kept permanently enabled, even
         * when the RTOS kernel is in a critical section, but cannot make any calls to
         * FreeRTOS API functions.    If configASSERT() is defined in FreeRTOSConfig.h
         * then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
         * failure if a FreeRTOS API function is called from an interrupt that has been
         * assigned a priority above the configured maximum system call priority.
         * Only FreeRTOS functions that end in FromISR can be called from interrupts
         * that have been assigned a priority at or (logically) below the maximum
         * system call    interrupt priority.    FreeRTOS maintains a separate interrupt
         * safe API to ensure interrupt entry is as fast and as simple as possible.
         * More information (albeit Cortex-M specific) is provided on the following
         * link: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
        portASSERT_IF_INTERRUPT_PRIORITY_INVALID();

        uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
        {
                xReturn = xTickCount;
        }
        portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );

        return xReturn;
}
/*-----------------------------------------------------------*/

UBaseType_t uxTaskGetNumberOfTasks( void )
{
        /* A critical section is not required because the variables are of type
         * BaseType_t. */
        return uxCurrentNumberOfTasks;
}
/*-----------------------------------------------------------*/

char * pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
{
        TCB_t * pxTCB;

        /* If null is passed in here then the name of the calling task is being
         * queried. */
        pxTCB = prvGetTCBFromHandle( xTaskToQuery );
        configASSERT( pxTCB );
        return &( pxTCB->pcTaskName[ 0 ] );
}
/*-----------------------------------------------------------*/

#if ( INCLUDE_xTaskGetHandle == 1 )

        static TCB_t * prvSearchForNameWithinSingleList( List_t * pxList,
                                                                                                         const char pcNameToQuery[] )
        {
                TCB_t * pxNextTCB, * pxFirstTCB, * pxReturn = NULL;
                UBaseType_t x;
                char cNextChar;
                BaseType_t xBreakLoop;

                /* This function is called with the scheduler suspended. */

                if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
                {
                        listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.    Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */

                        do
                        {
                                listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.    Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */

                                /* Check each character in the name looking for a match or
                                 * mismatch. */
                                xBreakLoop = pdFALSE;

                                for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
                                {
                                        cNextChar = pxNextTCB->pcTaskName[ x ];

                                        if( cNextChar != pcNameToQuery[ x ] )
                                        {
                                                /* Characters didn't match. */
                                                xBreakLoop = pdTRUE;
                                        }
                                        else if( cNextChar == ( char ) 0x00 )
                                        {
                                                /* Both strings terminated, a match must have been
                                                 * found. */
                                                pxReturn = pxNextTCB;
                                                xBreakLoop = pdTRUE;
                                        }
                                        else
                                        {
                                                mtCOVERAGE_TEST_MARKER();
                                        }

                                        if( xBreakLoop != pdFALSE )
                                        {
                                                break;
                                        }
                                }

                                if( pxReturn != NULL )
                                {
                                        /* The handle has been found. */
                                        break;
                                }
                        } while( pxNextTCB != pxFirstTCB );
                }
                else
                {
                        mtCOVERAGE_TEST_MARKER();
                }

                return pxReturn;
        }

#endif /* INCLUDE_xTaskGetHandle */
/*-----------------------------------------------------------*/

#if ( INCLUDE_xTaskGetHandle == 1 )

        TaskHandle_t xTaskGetHandle( const char * pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
        {
                UBaseType_t uxQueue = configMAX_PRIORITIES;
                TCB_t * pxTCB;

                /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
                configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );

                vTaskSuspendAll();
                {
                        /* Search the ready lists. */
                        do
                        {
                                uxQueue--;
                                pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );

                                if( pxTCB != NULL )
                                {
                                        /* Found the handle. */
                                        break;
                                }
                        } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */

                        /* Search the delayed lists. */
                        if( pxTCB == NULL )
                        {
                                pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
                        }

                        if( pxTCB == NULL )
                        {
                                pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
                        }

                        #if ( INCLUDE_vTaskSuspend == 1 )
                                {
                                        if( pxTCB == NULL )
                                        {
                                                /* Search the suspended list. */
                                                pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
                                        }
                                }
                        #endif

                        #if ( INCLUDE_vTaskDelete == 1 )
                                {
                                        if( pxTCB == NULL )
                                        {
                                                /* Search the deleted list. */
                                                pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
                                        }
                                }
                        #endif
                }
                ( void ) xTaskResumeAll();

                return pxTCB;
        }

#endif /* INCLUDE_xTaskGetHandle */
/*-----------------------------------------------------------*/

#if ( configUSE_TRACE_FACILITY == 1 )

        UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray,
                                                                            const UBaseType_t uxArraySize,
                                                                            configRUN_TIME_COUNTER_TYPE * const pulTotalRunTime )
        {
                UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;

                vTaskSuspendAll();
                {
                        /* Is there a space in the array for each task in the system? */
                        if( uxArraySize >= uxCurrentNumberOfTasks )
                        {
                                /* Fill in an TaskStatus_t structure with information on each
                                 * task in the Ready state. */
                                do
                                {
                                        uxQueue--;
                                        uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
                                } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */

                                /* Fill in an TaskStatus_t structure with information on each
                                 * task in the Blocked state. */
                                uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
                                uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );

                                #if ( INCLUDE_vTaskDelete == 1 )
                                        {
                                                /* Fill in an TaskStatus_t structure with information on
                                                 * each task that has been deleted but not yet cleaned up. */
                                                uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
                                        }
                                #endif

                                #if ( INCLUDE_vTaskSuspend == 1 )
                                        {
                                                /* Fill in an TaskStatus_t structure with information on
                                                 * each task in the Suspended state. */
                                                uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
                                        }
                                #endif

                                #if ( configGENERATE_RUN_TIME_STATS == 1 )
                                        {
                                                if( pulTotalRunTime != NULL )
                                                {
                                                        #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
                                                                portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
                                                        #else
                                                                *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
                                                        #endif
                                                }
                                        }
                                #else /* if ( configGENERATE_RUN_TIME_STATS == 1 ) */
                                        {
                                                if( pulTotalRunTime != NULL )
                                                {
                                                        *pulTotalRunTime = 0;
                                                }
                                        }
                                #endif /* if ( configGENERATE_RUN_TIME_STATS == 1 ) */
                        }
                        else
                        {
                                mtCOVERAGE_TEST_MARKER();
                        }
                }
                ( void ) xTaskResumeAll();

                return uxTask;
        }

#endif /* configUSE_TRACE_FACILITY */
/*----------------------------------------------------------*/

#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )

        TaskHandle_t xTaskGetIdleTaskHandle( void )
        {
                /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
                 * started, then xIdleTaskHandle will be NULL. */
                configASSERT( ( xIdleTaskHandle != NULL ) );
                return xIdleTaskHandle;
        }

#endif /* INCLUDE_xTaskGetIdleTaskHandle */
/*----------------------------------------------------------*/

/* This conditional compilation should use inequality to 0, not equality to 1.
 * This is to ensure vTaskStepTick() is available when user defined low power mode
 * implementations require configUSE_TICKLESS_IDLE to be set to a value other than
 * 1. */
#if ( configUSE_TICKLESS_IDLE != 0 )

        void vTaskStepTick( const TickType_t xTicksToJump )
        {
                /* Correct the tick count value after a period during which the tick
                 * was suppressed.    Note this does *not* call the tick hook function for
                 * each stepped tick. */
                configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
                xTickCount += xTicksToJump;
                traceINCREASE_TICK_COUNT( xTicksToJump );
        }

#endif /* configUSE_TICKLESS_IDLE */
/*----------------------------------------------------------*/

BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp )
{
        BaseType_t xYieldOccurred;

        /* Must not be called with the scheduler suspended as the implementation
         * relies on xPendedTicks being wound down to 0 in xTaskResumeAll(). */
        configASSERT( uxSchedulerSuspended == 0 );

        /* Use xPendedTicks to mimic xTicksToCatchUp number of ticks occurring when
         * the scheduler is suspended so the ticks are executed in xTaskResumeAll(). */
        vTaskSuspendAll();
        xPendedTicks += xTicksToCatchUp;
        xYieldOccurred = xTaskResumeAll();

        return xYieldOccurred;
}
/*----------------------------------------------------------*/

#if ( INCLUDE_xTaskAbortDelay == 1 )

        BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
        {
                TCB_t * pxTCB = xTask;
                BaseType_t xReturn;

                configASSERT( pxTCB );

                vTaskSuspendAll();
                {
                        /* A task can only be prematurely removed from the Blocked state if
                         * it is actually in the Blocked state. */
                        if( eTaskGetState( xTask ) == eBlocked )
                        {
                                xReturn = pdPASS;

                                /* Remove the reference to the task from the blocked list.    An
                                 * interrupt won't touch the xStateListItem because the
                                 * scheduler is suspended. */
                                ( void ) uxListRemove( &( pxTCB->xStateListItem ) );

                                /* Is the task waiting on an event also?    If so remove it from
                                 * the event list too.    Interrupts can touch the event list item,
                                 * even though the scheduler is suspended, so a critical section
                                 * is used. */
                                taskENTER_CRITICAL();
                                {
                                        if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
                                        {
                                                ( void ) uxListRemove( &( pxTCB->xEventListItem ) );

                                                /* This lets the task know it was forcibly removed from the
                                                 * blocked state so it should not re-evaluate its block time and
                                                 * then block again. */
                                                pxTCB->ucDelayAborted = pdTRUE;
                                        }
                                        else
                                        {
                                                mtCOVERAGE_TEST_MARKER();
                                        }
                                }
                                taskEXIT_CRITICAL();

                                /* Place the unblocked task into the appropriate ready list. */
                                prvAddTaskToReadyList( pxTCB );

                                /* A task being unblocked cannot cause an immediate context
                                 * switch if preemption is turned off. */
                                #if ( configUSE_PREEMPTION == 1 )
                                        {
                                                /* Preemption is on, but a context switch should only be
                                                 * performed if the unblocked task has a priority that is
                                                 * higher than the currently executing task. */
                                                if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
                                                {
                                                        /* Pend the yield to be performed when the scheduler
                                                         * is unsuspended. */
                                                        xYieldPending = pdTRUE;
                                                }
                                                else
                                                {
                                                        mtCOVERAGE_TEST_MARKER();
                                                }
                                        }
                                #endif /* configUSE_PREEMPTION */
                        }
                        else
                        {
                                xReturn = pdFAIL;
                        }
                }
                ( void ) xTaskResumeAll();

                return xReturn;
        }

#endif /* INCLUDE_xTaskAbortDelay */
/*----------------------------------------------------------*/

BaseType_t xTaskIncrementTick( void )
{
        TCB_t * pxTCB;
        TickType_t xItemValue;
        BaseType_t xSwitchRequired = pdFALSE;

        /* Called by the portable layer each time a tick interrupt occurs.
         * Increments the tick then checks to see if the new tick value will cause any
         * tasks to be unblocked. */
        traceTASK_INCREMENT_TICK( xTickCount );

        if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
        {
                /* Minor optimisation.    The tick count cannot change in this
                 * block. */
                const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;

                /* Increment the RTOS tick, switching the delayed and overflowed
                 * delayed lists if it wraps to 0. */
                xTickCount = xConstTickCount;

                if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
                {
                        taskSWITCH_DELAYED_LISTS();
                }
                else
                {
                        mtCOVERAGE_TEST_MARKER();
                }

                /* See if this tick has made a timeout expire.    Tasks are stored in
                 * the    queue in the order of their wake time - meaning once one task
                 * has been found whose block time has not expired there is no need to
                 * look any further down the list. */
                if( xConstTickCount >= xNextTaskUnblockTime )
                {
                        for( ; ; )
                        {
                                if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
                                {
                                        /* The delayed list is empty.    Set xNextTaskUnblockTime
                                         * to the maximum possible value so it is extremely
                                         * unlikely that the
                                         * if( xTickCount >= xNextTaskUnblockTime ) test will pass
                                         * next time through. */
                                        xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
                                        break;
                                }
                                else
                                {
                                        /* The delayed list is not empty, get the value of the
                                         * item at the head of the delayed list.    This is the time
                                         * at which the task at the head of the delayed list must
                                         * be removed from the Blocked state. */
                                        pxTCB = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.    Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
                                        xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );

                                        if( xConstTickCount < xItemValue )
                                        {
                                                /* It is not time to unblock this item yet, but the
                                                 * item value is the time at which the task at the head
                                                 * of the blocked list must be removed from the Blocked
                                                 * state -    so record the item value in
                                                 * xNextTaskUnblockTime. */
                                                xNextTaskUnblockTime = xItemValue;
                                                break; /*lint !e9011 Code structure here is deemed easier to understand with multiple breaks. */
                                        }
                                        else
                                        {
                                                mtCOVERAGE_TEST_MARKER();
                                        }

                                        /* It is time to remove the item from the Blocked state. */
                                        listREMOVE_ITEM( &( pxTCB->xStateListItem ) );

                                        /* Is the task waiting on an event also?    If so remove
                                         * it from the event list. */
                                        if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
                                        {
                                                listREMOVE_ITEM( &( pxTCB->xEventListItem ) );
                                        }
                                        else
                                        {
                                                mtCOVERAGE_TEST_MARKER();
                                        }

                                        /* Place the unblocked task into the appropriate ready
                                         * list. */
                                        prvAddTaskToReadyList( pxTCB );

                                        /* A task being unblocked cannot cause an immediate
                                         * context switch if preemption is turned off. */
                                        #if ( configUSE_PREEMPTION == 1 )
                                                {
                                                        /* Preemption is on, but a context switch should
                                                         * only be performed if the unblocked task has a
                                                         * priority that is equal to or higher than the
                                                         * currently executing task. */
                                                        if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
                                                        {
                                                                xSwitchRequired = pdTRUE;
                                                        }
                                                        else
                                                        {
                                                                mtCOVERAGE_TEST_MARKER();
                                                        }
                                                }
                                        #endif /* configUSE_PREEMPTION */
                                }
                        }
                }

                /* Tasks of equal priority to the currently running task will share
                 * processing time (time slice) if preemption is on, and the application
                 * writer has not explicitly turned time slicing off. */
                #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
                        {
                                if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
                                {
                                        xSwitchRequired = pdTRUE;
                                }
                                else
                                {
                                        mtCOVERAGE_TEST_MARKER();
                                }
                        }
                #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */

                #if ( configUSE_TICK_HOOK == 1 )
                        {
                                /* Guard against the tick hook being called when the pended tick
                                 * count is being unwound (when the scheduler is being unlocked). */
                                if( xPendedTicks == ( TickType_t ) 0 )
                                {
                                        vApplicationTickHook();
                                }
                                else
                                {
                                        mtCOVERAGE_TEST_MARKER();
                                }
                        }
                #endif /* configUSE_TICK_HOOK */

                #if ( configUSE_PREEMPTION == 1 )
                        {
                                if( xYieldPending != pdFALSE )
                                {
                                        xSwitchRequired = pdTRUE;
                                }
                                else
                                {
                                        mtCOVERAGE_TEST_MARKER();
                                }
                        }
                #endif /* configUSE_PREEMPTION */
        }
        else
        {
                ++xPendedTicks;

                /* The tick hook gets called at regular intervals, even if the
                 * scheduler is locked. */
                #if ( configUSE_TICK_HOOK == 1 )
                        {
                                vApplicationTickHook();
                        }
                #endif
        }

        return xSwitchRequired;
}
/*-----------------------------------------------------------*/

#if ( configUSE_APPLICATION_TASK_TAG == 1 )

        void vTaskSetApplicationTaskTag( TaskHandle_t xTask,
                                                                         TaskHookFunction_t pxHookFunction )
        {
                TCB_t * xTCB;

                /* If xTask is NULL then it is the task hook of the calling task that is
                 * getting set. */
                if( xTask == NULL )
                {
                        xTCB = ( TCB_t * ) pxCurrentTCB;
                }
                else
                {
                        xTCB = xTask;
                }

                /* Save the hook function in the TCB.    A critical section is required as
                 * the value can be accessed from an interrupt. */
                taskENTER_CRITICAL();
                {
                        xTCB->pxTaskTag = pxHookFunction;
                }
                taskEXIT_CRITICAL();
        }

#endif /* configUSE_APPLICATION_TASK_TAG */
/*-----------------------------------------------------------*/

#if ( configUSE_APPLICATION_TASK_TAG == 1 )

        TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
        {
                TCB_t * pxTCB;
                TaskHookFunction_t xReturn;

                /* If xTask is NULL then set the calling task's hook. */
                pxTCB = prvGetTCBFromHandle( xTask );

                /* Save the hook function in the TCB.    A critical section is required as
                 * the value can be accessed from an interrupt. */
                taskENTER_CRITICAL();
                {
                        xReturn = pxTCB->pxTaskTag;
                }
                taskEXIT_CRITICAL();

                return xReturn;
        }

#endif /* configUSE_APPLICATION_TASK_TAG */
/*-----------------------------------------------------------*/

#if ( configUSE_APPLICATION_TASK_TAG == 1 )

        TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask )
        {
                TCB_t * pxTCB;
                TaskHookFunction_t xReturn;
                UBaseType_t uxSavedInterruptStatus;

                /* If xTask is NULL then set the calling task's hook. */
                pxTCB = prvGetTCBFromHandle( xTask );

                /* Save the hook function in the TCB.    A critical section is required as
                 * the value can be accessed from an interrupt. */
                uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
                {
                        xReturn = pxTCB->pxTaskTag;
                }
                portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );

                return xReturn;
        }

#endif /* configUSE_APPLICATION_TASK_TAG */
/*-----------------------------------------------------------*/

#if ( configUSE_APPLICATION_TASK_TAG == 1 )

        BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask,
                                                                                         void * pvParameter )
        {
                TCB_t * xTCB;
                BaseType_t xReturn;

                /* If xTask is NULL then we are calling our own task hook. */
                if( xTask == NULL )
                {
                        xTCB = pxCurrentTCB;
                }
                else
                {
                        xTCB = xTask;
                }

                if( xTCB->pxTaskTag != NULL )
                {
                        xReturn = xTCB->pxTaskTag( pvParameter );
                }
                else
                {
                        xReturn = pdFAIL;
                }

                return xReturn;
        }

#endif /* configUSE_APPLICATION_TASK_TAG */
/*-----------------------------------------------------------*/

void vTaskSwitchContext( void )
{
        if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
        {
                /* The scheduler is currently suspended - do not allow a context
                 * switch. */
                xYieldPending = pdTRUE;
        }
        else
        {
                xYieldPending = pdFALSE;
                traceTASK_SWITCHED_OUT();

                #if ( configGENERATE_RUN_TIME_STATS == 1 )
                        {
                                #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
                                        portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
                                #else
                                        ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
                                #endif

                                /* Add the amount of time the task has been running to the
                                 * accumulated time so far.    The time the task started running was
                                 * stored in ulTaskSwitchedInTime.    Note that there is no overflow
                                 * protection here so count values are only valid until the timer
                                 * overflows.    The guard against negative values is to protect
                                 * against suspect run time stat counter implementations - which
                                 * are provided by the application, not the kernel. */
                                if( ulTotalRunTime > ulTaskSwitchedInTime )
                                {
                                        pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
                                }
                                else
                                {
                                        mtCOVERAGE_TEST_MARKER();
                                }

                                ulTaskSwitchedInTime = ulTotalRunTime;
                        }
                #endif /* configGENERATE_RUN_TIME_STATS */

                /* Check for stack overflow, if configured. */
                taskCHECK_FOR_STACK_OVERFLOW();

                /* Before the currently running task is switched out, save its errno. */
                #if ( configUSE_POSIX_ERRNO == 1 )
                        {
                                pxCurrentTCB->iTaskErrno = FreeRTOS_errno;
                        }
                #endif

                /* Select a new task to run using either the generic C or port
                 * optimised asm code. */
                taskSELECT_HIGHEST_PRIORITY_TASK(); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.    Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
                traceTASK_SWITCHED_IN();

                /* After the new task is switched in, update the global errno. */
                #if ( configUSE_POSIX_ERRNO == 1 )
                        {
                                FreeRTOS_errno = pxCurrentTCB->iTaskErrno;
                        }
                #endif

                #if ( configUSE_NEWLIB_REENTRANT == 1 )
                        {
                                /* Switch Newlib's _impure_ptr variable to point to the _reent
                                 * structure specific to this task.
                                 * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
                                 * for additional information. */
                                _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
                        }
                #endif /* configUSE_NEWLIB_REENTRANT */
        }
}
/*-----------------------------------------------------------*/

void vTaskPlaceOnEventList( List_t * const pxEventList,
                                                        const TickType_t xTicksToWait )
{
        configASSERT( pxEventList );

        /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
         * SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */

        /* Place the event list item of the TCB in the appropriate event list.
         * This is placed in the list in priority order so the highest priority task
         * is the first to be woken by the event.
         *
         * Note: Lists are sorted in ascending order by ListItem_t.xItemValue.
         * Normally, the xItemValue of a TCB's ListItem_t members is:
         *            xItemValue = ( configMAX_PRIORITIES - uxPriority )
         * Therefore, the event list is sorted in descending priority order.
         *
         * The queue that contains the event list is locked, preventing
         * simultaneous access from interrupts. */
        vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );

        prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
}
/*-----------------------------------------------------------*/

void vTaskPlaceOnUnorderedEventList( List_t * pxEventList,
                                                                         const TickType_t xItemValue,
                                                                         const TickType_t xTicksToWait )
{
        configASSERT( pxEventList );

        /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED.    It is used by
         * the event groups implementation. */
        configASSERT( uxSchedulerSuspended != 0 );

        /* Store the item value in the event list item.    It is safe to access the
         * event list item here as interrupts won't access the event list item of a
         * task that is not in the Blocked state. */
        listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );

        /* Place the event list item of the TCB at the end of the appropriate event
         * list.    It is safe to access the event list here because it is part of an
         * event group implementation - and interrupts don't access event groups
         * directly (instead they access them indirectly by pending function calls to
         * the task level). */
        listINSERT_END( pxEventList, &( pxCurrentTCB->xEventListItem ) );

        prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
}
/*-----------------------------------------------------------*/

#if ( configUSE_TIMERS == 1 )

        void vTaskPlaceOnEventListRestricted( List_t * const pxEventList,
                                                                                    TickType_t xTicksToWait,
                                                                                    const BaseType_t xWaitIndefinitely )
        {
                configASSERT( pxEventList );

                /* This function should not be called by application code hence the
                 * 'Restricted' in its name.    It is not part of the public API.    It is
                 * designed for use by kernel code, and has special calling requirements -
                 * it should be called with the scheduler suspended. */


                /* Place the event list item of the TCB in the appropriate event list.
                 * In this case it is assume that this is the only task that is going to
                 * be waiting on this event list, so the faster vListInsertEnd() function
                 * can be used in place of vListInsert. */
                listINSERT_END( pxEventList, &( pxCurrentTCB->xEventListItem ) );

                /* If the task should block indefinitely then set the block time to a
                 * value that will be recognised as an indefinite delay inside the
                 * prvAddCurrentTaskToDelayedList() function. */
                if( xWaitIndefinitely != pdFALSE )
                {
                        xTicksToWait = portMAX_DELAY;
                }

                traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
                prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
        }

#endif /* configUSE_TIMERS */
/*-----------------------------------------------------------*/

BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
{
        TCB_t * pxUnblockedTCB;
        BaseType_t xReturn;

        /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION.    It can also be
         * called from a critical section within an ISR. */

        /* The event list is sorted in priority order, so the first in the list can
         * be removed as it is known to be the highest priority.    Remove the TCB from
         * the delayed list, and add it to the ready list.
         *
         * If an event is for a queue that is locked then this function will never
         * get called - the lock count on the queue will get modified instead.    This
         * means exclusive access to the event list is guaranteed here.
         *
         * This function assumes that a check has already been made to ensure that
         * pxEventList is not empty. */
        pxUnblockedTCB = listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.    Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
        configASSERT( pxUnblockedTCB );
        listREMOVE_ITEM( &( pxUnblockedTCB->xEventListItem ) );

        if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
        {
                listREMOVE_ITEM( &( pxUnblockedTCB->xStateListItem ) );
                prvAddTaskToReadyList( pxUnblockedTCB );

                #if ( configUSE_TICKLESS_IDLE != 0 )
                        {
                                /* If a task is blocked on a kernel object then xNextTaskUnblockTime
                                 * might be set to the blocked task's time out time.    If the task is
                                 * unblocked for a reason other than a timeout xNextTaskUnblockTime is
                                 * normally left unchanged, because it is automatically reset to a new
                                 * value when the tick count equals xNextTaskUnblockTime.    However if
                                 * tickless idling is used it might be more important to enter sleep mode
                                 * at the earliest possible time - so reset xNextTaskUnblockTime here to
                                 * ensure it is updated at the earliest possible time. */
                                prvResetNextTaskUnblockTime();
                        }
                #endif
        }
        else
        {
                /* The delayed and ready lists cannot be accessed, so hold this task
                 * pending until the scheduler is resumed. */
                listINSERT_END( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
        }

        if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
        {
                /* Return true if the task removed from the event list has a higher
                 * priority than the calling task.    This allows the calling task to know if
                 * it should force a context switch now. */
                xReturn = pdTRUE;

                /* Mark that a yield is pending in case the user is not using the
                 * "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
                xYieldPending = pdTRUE;
        }
        else
        {
                xReturn = pdFALSE;
        }

        return xReturn;
}
/*-----------------------------------------------------------*/

void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem,
                                                                                const TickType_t xItemValue )
{
        TCB_t * pxUnblockedTCB;

        /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED.    It is used by
         * the event flags implementation. */
        configASSERT( uxSchedulerSuspended != pdFALSE );

        /* Store the new item value in the event list. */
        listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );

        /* Remove the event list form the event flag.    Interrupts do not access
         * event flags. */
        pxUnblockedTCB = listGET_LIST_ITEM_OWNER( pxEventListItem ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.    Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
        configASSERT( pxUnblockedTCB );
        listREMOVE_ITEM( pxEventListItem );

        #if ( configUSE_TICKLESS_IDLE != 0 )
                {
                        /* If a task is blocked on a kernel object then xNextTaskUnblockTime
                         * might be set to the blocked task's time out time.    If the task is
                         * unblocked for a reason other than a timeout xNextTaskUnblockTime is
                         * normally left unchanged, because it is automatically reset to a new
                         * value when the tick count equals xNextTaskUnblockTime.    However if
                         * tickless idling is used it might be more important to enter sleep mode
                         * at the earliest possible time - so reset xNextTaskUnblockTime here to
                         * ensure it is updated at the earliest possible time. */
                        prvResetNextTaskUnblockTime();
                }
        #endif

        /* Remove the task from the delayed list and add it to the ready list.    The
         * scheduler is suspended so interrupts will not be accessing the ready
         * lists. */
        listREMOVE_ITEM( &( pxUnblockedTCB->xStateListItem ) );
        prvAddTaskToReadyList( pxUnblockedTCB );

        if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
        {
                /* The unblocked task has a priority above that of the calling task, so
                 * a context switch is required.    This function is called with the
                 * scheduler suspended so xYieldPending is set so the context switch
                 * occurs immediately that the scheduler is resumed (unsuspended). */
                xYieldPending = pdTRUE;
        }
}
/*-----------------------------------------------------------*/

void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
{
        configASSERT( pxTimeOut );
        taskENTER_CRITICAL();
        {
                pxTimeOut->xOverflowCount = xNumOfOverflows;
                pxTimeOut->xTimeOnEntering = xTickCount;
        }
        taskEXIT_CRITICAL();
}
/*-----------------------------------------------------------*/

void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
{
        /* For internal use only as it does not use a critical section. */
        pxTimeOut->xOverflowCount = xNumOfOverflows;
        pxTimeOut->xTimeOnEntering = xTickCount;
}
/*-----------------------------------------------------------*/

BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut,
                                                                 TickType_t * const pxTicksToWait )
{
        BaseType_t xReturn;

        configASSERT( pxTimeOut );
        configASSERT( pxTicksToWait );

        taskENTER_CRITICAL();
        {
                /* Minor optimisation.    The tick count cannot change in this block. */
                const TickType_t xConstTickCount = xTickCount;
                const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;

                #if ( INCLUDE_xTaskAbortDelay == 1 )
                        if( pxCurrentTCB->ucDelayAborted != ( uint8_t ) pdFALSE )
                        {
                                /* The delay was aborted, which is not the same as a time out,
                                 * but has the same result. */
                                pxCurrentTCB->ucDelayAborted = pdFALSE;
                                xReturn = pdTRUE;
                        }
                        else
                #endif

                #if ( INCLUDE_vTaskSuspend == 1 )
                        if( *pxTicksToWait == portMAX_DELAY )
                        {
                                /* If INCLUDE_vTaskSuspend is set to 1 and the block time
                                 * specified is the maximum block time then the task should block
                                 * indefinitely, and therefore never time out. */
                                xReturn = pdFALSE;
                        }
                        else
                #endif

                if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
                {
                        /* The tick count is greater than the time at which
                         * vTaskSetTimeout() was called, but has also overflowed since
                         * vTaskSetTimeOut() was called.    It must have wrapped all the way
                         * around and gone past again. This passed since vTaskSetTimeout()
                         * was called. */
                        xReturn = pdTRUE;
                        *pxTicksToWait = ( TickType_t ) 0;
                }
                else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
                {
                        /* Not a genuine timeout. Adjust parameters for time remaining. */
                        *pxTicksToWait -= xElapsedTime;
                        vTaskInternalSetTimeOutState( pxTimeOut );
                        xReturn = pdFALSE;
                }
                else
                {
                        *pxTicksToWait = ( TickType_t ) 0;
                        xReturn = pdTRUE;
                }
        }
        taskEXIT_CRITICAL();

        return xReturn;
}
/*-----------------------------------------------------------*/

void vTaskMissedYield( void )
{
        xYieldPending = pdTRUE;
}
/*-----------------------------------------------------------*/

#if ( configUSE_TRACE_FACILITY == 1 )

        UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
        {
                UBaseType_t uxReturn;
                TCB_t const * pxTCB;

                if( xTask != NULL )
                {
                        pxTCB = xTask;
                        uxReturn = pxTCB->uxTaskNumber;
                }
                else
                {
                        uxReturn = 0U;
                }

                return uxReturn;
        }

#endif /* configUSE_TRACE_FACILITY */
/*-----------------------------------------------------------*/

#if ( configUSE_TRACE_FACILITY == 1 )

        void vTaskSetTaskNumber( TaskHandle_t xTask,
                                                         const UBaseType_t uxHandle )
        {
                TCB_t * pxTCB;

                if( xTask != NULL )
                {
                        pxTCB = xTask;
                        pxTCB->uxTaskNumber = uxHandle;
                }
        }

#endif /* configUSE_TRACE_FACILITY */

/*
 * -----------------------------------------------------------
 * The Idle task.
 * ----------------------------------------------------------
 *
 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
 * language extensions.    The equivalent prototype for this function is:
 *
 * void prvIdleTask( void *pvParameters );
 *
 */
static portTASK_FUNCTION( prvIdleTask, pvParameters )
{
        /* Stop warnings. */
        ( void ) pvParameters;

        /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
         * SCHEDULER IS STARTED. **/

        /* In case a task that has a secure context deletes itself, in which case
         * the idle task is responsible for deleting the task's secure context, if
         * any. */
        portALLOCATE_SECURE_CONTEXT( configMINIMAL_SECURE_STACK_SIZE );

        for( ; ; )
        {
                /* See if any tasks have deleted themselves - if so then the idle task
                 * is responsible for freeing the deleted task's TCB and stack. */
                prvCheckTasksWaitingTermination();

                #if ( configUSE_PREEMPTION == 0 )
                        {
                                /* If we are not using preemption we keep forcing a task switch to
                                 * see if any other task has become available.    If we are using
                                 * preemption we don't need to do this as any task becoming available
                                 * will automatically get the processor anyway. */
                                taskYIELD();
                        }
                #endif /* configUSE_PREEMPTION */

                #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
                        {
                                /* When using preemption tasks of equal priority will be
                                 * timesliced.    If a task that is sharing the idle priority is ready
                                 * to run then the idle task should yield before the end of the
                                 * timeslice.
                                 *
                                 * A critical region is not required here as we are just reading from
                                 * the list, and an occasional incorrect value will not matter.    If
                                 * the ready list at the idle priority contains more than one task
                                 * then a task other than the idle task is ready to execute. */
                                if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
                                {
                                        taskYIELD();
                                }
                                else
                                {
                                        mtCOVERAGE_TEST_MARKER();
                                }
                        }
                #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */

                #if ( configUSE_IDLE_HOOK == 1 )
                        {
                                extern void vApplicationIdleHook( void );

                                /* Call the user defined function from within the idle task.    This
                                 * allows the application designer to add background functionality
                                 * without the overhead of a separate task.
                                 * NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
                                 * CALL A FUNCTION THAT MIGHT BLOCK. */
                                vApplicationIdleHook();
                        }
                #endif /* configUSE_IDLE_HOOK */

                /* This conditional compilation should use inequality to 0, not equality
                 * to 1.    This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
                 * user defined low power mode    implementations require
                 * configUSE_TICKLESS_IDLE to be set to a value other than 1. */
                #if ( configUSE_TICKLESS_IDLE != 0 )
                        {
                                TickType_t xExpectedIdleTime;

                                /* It is not desirable to suspend then resume the scheduler on
                                 * each iteration of the idle task.    Therefore, a preliminary
                                 * test of the expected idle time is performed without the
                                 * scheduler suspended.    The result here is not necessarily
                                 * valid. */
                                xExpectedIdleTime = prvGetExpectedIdleTime();

                                if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
                                {
                                        vTaskSuspendAll();
                                        {
                                                /* Now the scheduler is suspended, the expected idle
                                                 * time can be sampled again, and this time its value can
                                                 * be used. */
                                                configASSERT( xNextTaskUnblockTime >= xTickCount );
                                                xExpectedIdleTime = prvGetExpectedIdleTime();

                                                /* Define the following macro to set xExpectedIdleTime to 0
                                                 * if the application does not want
                                                 * portSUPPRESS_TICKS_AND_SLEEP() to be called. */
                                                configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );

                                                if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
                                                {
                                                        traceLOW_POWER_IDLE_BEGIN();
                                                        portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
                                                        traceLOW_POWER_IDLE_END();
                                                }
                                                else
                                                {
                                                        mtCOVERAGE_TEST_MARKER();
                                                }
                                        }
                                        ( void ) xTaskResumeAll();
                                }
                                else
                                {
                                        mtCOVERAGE_TEST_MARKER();
                                }
                        }
                #endif /* configUSE_TICKLESS_IDLE */
        }
}
/*-----------------------------------------------------------*/

#if ( configUSE_TICKLESS_IDLE != 0 )

        eSleepModeStatus eTaskConfirmSleepModeStatus( void )
        {
                /* The idle task exists in addition to the application tasks. */
                const UBaseType_t uxNonApplicationTasks = 1;
                eSleepModeStatus eReturn = eStandardSleep;

                /* This function must be called from a critical section. */

                if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
                {
                        /* A task was made ready while the scheduler was suspended. */
                        eReturn = eAbortSleep;
                }
                else if( xYieldPending != pdFALSE )
                {
                        /* A yield was pended while the scheduler was suspended. */
                        eReturn = eAbortSleep;
                }
                else if( xPendedTicks != 0 )
                {
                        /* A tick interrupt has already occurred but was held pending
                         * because the scheduler is suspended. */
                        eReturn = eAbortSleep;
                }
                else
                {
                        /* If all the tasks are in the suspended list (which might mean they
                         * have an infinite block time rather than actually being suspended)
                         * then it is safe to turn all clocks off and just wait for external
                         * interrupts. */
                        if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
                        {
                                eReturn = eNoTasksWaitingTimeout;
                        }
                        else
                        {
                                mtCOVERAGE_TEST_MARKER();
                        }
                }

                return eReturn;
        }

#endif /* configUSE_TICKLESS_IDLE */
/*-----------------------------------------------------------*/

#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )

        void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet,
                                                                                        BaseType_t xIndex,
                                                                                        void * pvValue )
        {
                TCB_t * pxTCB;

                if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
                {
                        pxTCB = prvGetTCBFromHandle( xTaskToSet );
                        configASSERT( pxTCB != NULL );
                        pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
                }
        }

#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
/*-----------------------------------------------------------*/

#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )

        void * pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery,
                                                                                             BaseType_t xIndex )
        {
                void * pvReturn = NULL;
                TCB_t * pxTCB;

                if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
                {
                        pxTCB = prvGetTCBFromHandle( xTaskToQuery );
                        pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
                }
                else
                {
                        pvReturn = NULL;
                }

                return pvReturn;
        }

#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
/*-----------------------------------------------------------*/

#if ( portUSING_MPU_WRAPPERS == 1 )

        void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify,
                                                                    const MemoryRegion_t * const xRegions )
        {
                TCB_t * pxTCB;

                /* If null is passed in here then we are modifying the MPU settings of
                 * the calling task. */
                pxTCB = prvGetTCBFromHandle( xTaskToModify );

                vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
        }

#endif /* portUSING_MPU_WRAPPERS */
/*-----------------------------------------------------------*/

static void prvInitialiseTaskLists( void )
{
        UBaseType_t uxPriority;

        for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
        {
                vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
        }

        vListInitialise( &xDelayedTaskList1 );
        vListInitialise( &xDelayedTaskList2 );
        vListInitialise( &xPendingReadyList );

        #if ( INCLUDE_vTaskDelete == 1 )
                {
                        vListInitialise( &xTasksWaitingTermination );
                }
        #endif /* INCLUDE_vTaskDelete */

        #if ( INCLUDE_vTaskSuspend == 1 )
                {
                        vListInitialise( &xSuspendedTaskList );
                }
        #endif /* INCLUDE_vTaskSuspend */

        /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
         * using list2. */
        pxDelayedTaskList = &xDelayedTaskList1;
        pxOverflowDelayedTaskList = &xDelayedTaskList2;
}
/*-----------------------------------------------------------*/

static void prvCheckTasksWaitingTermination( void )
{
        /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/

        #if ( INCLUDE_vTaskDelete == 1 )
                {
                        TCB_t * pxTCB;

                        /* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
                         * being called too often in the idle task. */
                        while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
                        {
                                taskENTER_CRITICAL();
                                {
                                        pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.    Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
                                        ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
                                        --uxCurrentNumberOfTasks;
                                        --uxDeletedTasksWaitingCleanUp;
                                }
                                taskEXIT_CRITICAL();

                                prvDeleteTCB( pxTCB );
                        }
                }
        #endif /* INCLUDE_vTaskDelete */
}
/*-----------------------------------------------------------*/

#if ( configUSE_TRACE_FACILITY == 1 )

        void vTaskGetInfo( TaskHandle_t xTask,
                                             TaskStatus_t * pxTaskStatus,
                                             BaseType_t xGetFreeStackSpace,
                                             eTaskState eState )
        {
                TCB_t * pxTCB;

                /* xTask is NULL then get the state of the calling task. */
                pxTCB = prvGetTCBFromHandle( xTask );

                pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
                pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName[ 0 ] );
                pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
                pxTaskStatus->pxStackBase = pxTCB->pxStack;
                pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;

                #if ( configUSE_MUTEXES == 1 )
                        {
                                pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
                        }
                #else
                        {
                                pxTaskStatus->uxBasePriority = 0;
                        }
                #endif

                #if ( configGENERATE_RUN_TIME_STATS == 1 )
                        {
                                pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
                        }
                #else
                        {
                                pxTaskStatus->ulRunTimeCounter = ( configRUN_TIME_COUNTER_TYPE ) 0;
                        }
                #endif

                /* Obtaining the task state is a little fiddly, so is only done if the
                 * value of eState passed into this function is eInvalid - otherwise the
                 * state is just set to whatever is passed in. */
                if( eState != eInvalid )
                {
                        if( pxTCB == pxCurrentTCB )
                        {
                                pxTaskStatus->eCurrentState = eRunning;
                        }
                        else
                        {
                                pxTaskStatus->eCurrentState = eState;

                                #if ( INCLUDE_vTaskSuspend == 1 )
                                        {
                                                /* If the task is in the suspended list then there is a
                                                 *    chance it is actually just blocked indefinitely - so really
                                                 *    it should be reported as being in the Blocked state. */
                                                if( eState == eSuspended )
                                                {
                                                        vTaskSuspendAll();
                                                        {
                                                                if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
                                                                {
                                                                        pxTaskStatus->eCurrentState = eBlocked;
                                                                }
                                                        }
                                                        ( void ) xTaskResumeAll();
                                                }
                                        }
                                #endif /* INCLUDE_vTaskSuspend */
                        }
                }
                else
                {
                        pxTaskStatus->eCurrentState = eTaskGetState( pxTCB );
                }

                /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
                 * parameter is provided to allow it to be skipped. */
                if( xGetFreeStackSpace != pdFALSE )
                {
                        #if ( portSTACK_GROWTH > 0 )
                                {
                                        pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
                                }
                        #else
                                {
                                        pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
                                }
                        #endif
                }
                else
                {
                        pxTaskStatus->usStackHighWaterMark = 0;
                }
        }

#endif /* configUSE_TRACE_FACILITY */
/*-----------------------------------------------------------*/

#if ( configUSE_TRACE_FACILITY == 1 )

        static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t * pxTaskStatusArray,
                                                                                                         List_t * pxList,
                                                                                                         eTaskState eState )
        {
                configLIST_VOLATILE TCB_t * pxNextTCB, * pxFirstTCB;
                UBaseType_t uxTask = 0;

                if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
                {
                        listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.    Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */

                        /* Populate an TaskStatus_t structure within the
                         * pxTaskStatusArray array for each task that is referenced from
                         * pxList.    See the definition of TaskStatus_t in task.h for the
                         * meaning of each TaskStatus_t structure member. */
                        do
                        {
                                listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.    Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
                                vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
                                uxTask++;
                        } while( pxNextTCB != pxFirstTCB );
                }
                else
                {
                        mtCOVERAGE_TEST_MARKER();
                }

                return uxTask;
        }

#endif /* configUSE_TRACE_FACILITY */
/*-----------------------------------------------------------*/

#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )

        static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
        {
                uint32_t ulCount = 0U;

                while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
                {
                        pucStackByte -= portSTACK_GROWTH;
                        ulCount++;
                }

                ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */

                return ( configSTACK_DEPTH_TYPE ) ulCount;
        }

#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) ) */
/*-----------------------------------------------------------*/

#if ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 )

/* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are the
 * same except for their return type.    Using configSTACK_DEPTH_TYPE allows the
 * user to determine the return type.    It gets around the problem of the value
 * overflowing on 8-bit types without breaking backward compatibility for
 * applications that expect an 8-bit return type. */
        configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask )
        {
                TCB_t * pxTCB;
                uint8_t * pucEndOfStack;
                configSTACK_DEPTH_TYPE uxReturn;

                /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are
                 * the same except for their return type.    Using configSTACK_DEPTH_TYPE
                 * allows the user to determine the return type.    It gets around the
                 * problem of the value overflowing on 8-bit types without breaking
                 * backward compatibility for applications that expect an 8-bit return
                 * type. */

                pxTCB = prvGetTCBFromHandle( xTask );

                #if portSTACK_GROWTH < 0
                        {
                                pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
                        }
                #else
                        {
                                pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
                        }
                #endif

                uxReturn = prvTaskCheckFreeStackSpace( pucEndOfStack );

                return uxReturn;
        }

#endif /* INCLUDE_uxTaskGetStackHighWaterMark2 */
/*-----------------------------------------------------------*/

#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )

        UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
        {
                TCB_t * pxTCB;
                uint8_t * pucEndOfStack;
                UBaseType_t uxReturn;

                pxTCB = prvGetTCBFromHandle( xTask );

                #if portSTACK_GROWTH < 0
                        {
                                pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
                        }
                #else
                        {
                                pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
                        }
                #endif

                uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );

                return uxReturn;
        }

#endif /* INCLUDE_uxTaskGetStackHighWaterMark */
/*-----------------------------------------------------------*/

#if ( INCLUDE_vTaskDelete == 1 )

        static void prvDeleteTCB( TCB_t * pxTCB )
        {
                /* This call is required specifically for the TriCore port.    It must be
                 * above the vPortFree() calls.    The call is also used by ports/demos that
                 * want to allocate and clean RAM statically. */
                portCLEAN_UP_TCB( pxTCB );

                /* Free up the memory allocated by the scheduler for the task.    It is up
                 * to the task to free any memory allocated at the application level.
                 * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
                 * for additional information. */
                #if ( configUSE_NEWLIB_REENTRANT == 1 )
                        {
                                _reclaim_reent( &( pxTCB->xNewLib_reent ) );
                        }
                #endif /* configUSE_NEWLIB_REENTRANT */

                #if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
                        {
                                /* The task can only have been allocated dynamically - free both
                                 * the stack and TCB. */
                                vPortFreeStack( pxTCB->pxStack );
                                vPortFree( pxTCB );
                        }
                #elif ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
                        {
                                /* The task could have been allocated statically or dynamically, so
                                 * check what was statically allocated before trying to free the
                                 * memory. */
                                if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
                                {
                                        /* Both the stack and TCB were allocated dynamically, so both
                                         * must be freed. */
                                        vPortFreeStack( pxTCB->pxStack );
                                        vPortFree( pxTCB );
                                }
                                else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
                                {
                                        /* Only the stack was statically allocated, so the TCB is the
                                         * only memory that must be freed. */
                                        vPortFree( pxTCB );
                                }
                                else
                                {
                                        /* Neither the stack nor the TCB were allocated dynamically, so
                                         * nothing needs to be freed. */
                                        configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB );
                                        mtCOVERAGE_TEST_MARKER();
                                }
                        }
                #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
        }

#endif /* INCLUDE_vTaskDelete */
/*-----------------------------------------------------------*/

static void prvResetNextTaskUnblockTime( void )
{
        if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
        {
                /* The new current delayed list is empty.    Set xNextTaskUnblockTime to
                 * the maximum possible value so it is    extremely unlikely that the
                 * if( xTickCount >= xNextTaskUnblockTime ) test will pass until
                 * there is an item in the delayed list. */
                xNextTaskUnblockTime = portMAX_DELAY;
        }
        else
        {
                /* The new current delayed list is not empty, get the value of
                 * the item at the head of the delayed list.    This is the time at
                 * which the task at the head of the delayed list should be removed
                 * from the Blocked state. */
                xNextTaskUnblockTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxDelayedTaskList );
        }
}
/*-----------------------------------------------------------*/

#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )

        TaskHandle_t xTaskGetCurrentTaskHandle( void )
        {
                TaskHandle_t xReturn;

                /* A critical section is not required as this is not called from
                 * an interrupt and the current TCB will always be the same for any
                 * individual execution thread. */
                xReturn = pxCurrentTCB;

                return xReturn;
        }

#endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
/*-----------------------------------------------------------*/

#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )

        BaseType_t xTaskGetSchedulerState( void )
        {
                BaseType_t xReturn;

                if( xSchedulerRunning == pdFALSE )
                {
                        xReturn = taskSCHEDULER_NOT_STARTED;
                }
                else
                {
                        if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
                        {
                                xReturn = taskSCHEDULER_RUNNING;
                        }
                        else
                        {
                                xReturn = taskSCHEDULER_SUSPENDED;
                        }
                }

                return xReturn;
        }

#endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
/*-----------------------------------------------------------*/

#if ( configUSE_MUTEXES == 1 )

        BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
        {
                TCB_t * const pxMutexHolderTCB = pxMutexHolder;
                BaseType_t xReturn = pdFALSE;

                /* If the mutex was given back by an interrupt while the queue was
                 * locked then the mutex holder might now be NULL.    _RB_ Is this still
                 * needed as interrupts can no longer use mutexes? */
                if( pxMutexHolder != NULL )
                {
                        /* If the holder of the mutex has a priority below the priority of
                         * the task attempting to obtain the mutex then it will temporarily
                         * inherit the priority of the task attempting to obtain the mutex. */
                        if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
                        {
                                /* Adjust the mutex holder state to account for its new
                                 * priority.    Only reset the event list item value if the value is
                                 * not being used for anything else. */
                                if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
                                {
                                        listSET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
                                }
                                else
                                {
                                        mtCOVERAGE_TEST_MARKER();
                                }

                                /* If the task being modified is in the ready state it will need
                                 * to be moved into a new list. */
                                if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
                                {
                                        if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
                                        {
                                                /* It is known that the task is in its ready list so
                                                 * there is no need to check again and the port level
                                                 * reset macro can be called directly. */
                                                portRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority, uxTopReadyPriority );
                                        }
                                        else
                                        {
                                                mtCOVERAGE_TEST_MARKER();
                                        }

                                        /* Inherit the priority before being moved into the new list. */
                                        pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
                                        prvAddTaskToReadyList( pxMutexHolderTCB );
                                }
                                else
                                {
                                        /* Just inherit the priority. */
                                        pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
                                }

                                traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );

                                /* Inheritance occurred. */
                                xReturn = pdTRUE;
                        }
                        else
                        {
                                if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
                                {
                                        /* The base priority of the mutex holder is lower than the
                                         * priority of the task attempting to take the mutex, but the
                                         * current priority of the mutex holder is not lower than the
                                         * priority of the task attempting to take the mutex.
                                         * Therefore the mutex holder must have already inherited a
                                         * priority, but inheritance would have occurred if that had
                                         * not been the case. */
                                        xReturn = pdTRUE;
                                }
                                else
                                {
                                        mtCOVERAGE_TEST_MARKER();
                                }
                        }
                }
                else
                {
                        mtCOVERAGE_TEST_MARKER();
                }

                return xReturn;
        }

#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/

#if ( configUSE_MUTEXES == 1 )

        BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
        {
                TCB_t * const pxTCB = pxMutexHolder;
                BaseType_t xReturn = pdFALSE;

                if( pxMutexHolder != NULL )
                {
                        /* A task can only have an inherited priority if it holds the mutex.
                         * If the mutex is held by a task then it cannot be given from an
                         * interrupt, and if a mutex is given by the holding task then it must
                         * be the running state task. */
                        configASSERT( pxTCB == pxCurrentTCB );
                        configASSERT( pxTCB->uxMutexesHeld );
                        ( pxTCB->uxMutexesHeld )--;

                        /* Has the holder of the mutex inherited the priority of another
                         * task? */
                        if( pxTCB->uxPriority != pxTCB->uxBasePriority )
                        {
                                /* Only disinherit if no other mutexes are held. */
                                if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
                                {
                                        /* A task can only have an inherited priority if it holds
                                         * the mutex.    If the mutex is held by a task then it cannot be
                                         * given from an interrupt, and if a mutex is given by the
                                         * holding task then it must be the running state task.    Remove
                                         * the holding task from the ready list. */
                                        if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
                                        {
                                                portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority );
                                        }
                                        else
                                        {
                                                mtCOVERAGE_TEST_MARKER();
                                        }

                                        /* Disinherit the priority before adding the task into the
                                         * new    ready list. */
                                        traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
                                        pxTCB->uxPriority = pxTCB->uxBasePriority;

                                        /* Reset the event list item value.    It cannot be in use for
                                         * any other purpose if this task is running, and it must be
                                         * running to give back the mutex. */
                                        listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
                                        prvAddTaskToReadyList( pxTCB );

                                        /* Return true to indicate that a context switch is required.
                                         * This is only actually required in the corner case whereby
                                         * multiple mutexes were held and the mutexes were given back
                                         * in an order different to that in which they were taken.
                                         * If a context switch did not occur when the first mutex was
                                         * returned, even if a task was waiting on it, then a context
                                         * switch should occur when the last mutex is returned whether
                                         * a task is waiting on it or not. */
                                        xReturn = pdTRUE;
                                }
                                else
                                {
                                        mtCOVERAGE_TEST_MARKER();
                                }
                        }
                        else
                        {
                                mtCOVERAGE_TEST_MARKER();
                        }
                }
                else
                {
                        mtCOVERAGE_TEST_MARKER();
                }

                return xReturn;
        }

#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/

#if ( configUSE_MUTEXES == 1 )

        void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder,
                                                                                            UBaseType_t uxHighestPriorityWaitingTask )
        {
                TCB_t * const pxTCB = pxMutexHolder;
                UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
                const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;

                if( pxMutexHolder != NULL )
                {
                        /* If pxMutexHolder is not NULL then the holder must hold at least
                         * one mutex. */
                        configASSERT( pxTCB->uxMutexesHeld );

                        /* Determine the priority to which the priority of the task that
                         * holds the mutex should be set.    This will be the greater of the
                         * holding task's base priority and the priority of the highest
                         * priority task that is waiting to obtain the mutex. */
                        if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
                        {
                                uxPriorityToUse = uxHighestPriorityWaitingTask;
                        }
                        else
                        {
                                uxPriorityToUse = pxTCB->uxBasePriority;
                        }

                        /* Does the priority need to change? */
                        if( pxTCB->uxPriority != uxPriorityToUse )
                        {
                                /* Only disinherit if no other mutexes are held.    This is a
                                 * simplification in the priority inheritance implementation.    If
                                 * the task that holds the mutex is also holding other mutexes then
                                 * the other mutexes may have caused the priority inheritance. */
                                if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
                                {
                                        /* If a task has timed out because it already holds the
                                         * mutex it was trying to obtain then it cannot of inherited
                                         * its own priority. */
                                        configASSERT( pxTCB != pxCurrentTCB );

                                        /* Disinherit the priority, remembering the previous
                                         * priority to facilitate determining the subject task's
                                         * state. */
                                        traceTASK_PRIORITY_DISINHERIT( pxTCB, uxPriorityToUse );
                                        uxPriorityUsedOnEntry = pxTCB->uxPriority;
                                        pxTCB->uxPriority = uxPriorityToUse;

                                        /* Only reset the event list item value if the value is not
                                         * being used for anything else. */
                                        if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
                                        {
                                                listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriorityToUse ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
                                        }
                                        else
                                        {
                                                mtCOVERAGE_TEST_MARKER();
                                        }

                                        /* If the running task is not the task that holds the mutex
                                         * then the task that holds the mutex could be in either the
                                         * Ready, Blocked or Suspended states.    Only remove the task
                                         * from its current state list if it is in the Ready state as
                                         * the task's priority is going to change and there is one
                                         * Ready list per priority. */
                                        if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
                                        {
                                                if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
                                                {
                                                        /* It is known that the task is in its ready list so
                                                         * there is no need to check again and the port level
                                                         * reset macro can be called directly. */
                                                        portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority );
                                                }
                                                else
                                                {
                                                        mtCOVERAGE_TEST_MARKER();
                                                }

                                                prvAddTaskToReadyList( pxTCB );
                                        }
                                        else
                                        {
                                                mtCOVERAGE_TEST_MARKER();
                                        }
                                }
                                else
                                {
                                        mtCOVERAGE_TEST_MARKER();
                                }
                        }
                        else
                        {
                                mtCOVERAGE_TEST_MARKER();
                        }
                }
                else
                {
                        mtCOVERAGE_TEST_MARKER();
                }
        }

#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/

#if ( portCRITICAL_NESTING_IN_TCB == 1 )

        void vTaskEnterCritical( void )
        {
                portDISABLE_INTERRUPTS();

                if( xSchedulerRunning != pdFALSE )
                {
                        ( pxCurrentTCB->uxCriticalNesting )++;

                        /* This is not the interrupt safe version of the enter critical
                         * function so    assert() if it is being called from an interrupt
                         * context.    Only API functions that end in "FromISR" can be used in an
                         * interrupt.    Only assert if the critical nesting count is 1 to
                         * protect against recursive calls if the assert function also uses a
                         * critical section. */
                        if( pxCurrentTCB->uxCriticalNesting == 1 )
                        {
                                portASSERT_IF_IN_ISR();
                        }
                }
                else
                {
                        mtCOVERAGE_TEST_MARKER();
                }
        }

#endif /* portCRITICAL_NESTING_IN_TCB */
/*-----------------------------------------------------------*/

#if ( portCRITICAL_NESTING_IN_TCB == 1 )

        void vTaskExitCritical( void )
        {
                if( xSchedulerRunning != pdFALSE )
                {
                        if( pxCurrentTCB->uxCriticalNesting > 0U )
                        {
                                ( pxCurrentTCB->uxCriticalNesting )--;

                                if( pxCurrentTCB->uxCriticalNesting == 0U )
                                {
                                        portENABLE_INTERRUPTS();
                                }
                                else
                                {
                                        mtCOVERAGE_TEST_MARKER();
                                }
                        }
                        else
                        {
                                mtCOVERAGE_TEST_MARKER();
                        }
                }
                else
                {
                        mtCOVERAGE_TEST_MARKER();
                }
        }

#endif /* portCRITICAL_NESTING_IN_TCB */
/*-----------------------------------------------------------*/

#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )

        static char * prvWriteNameToBuffer( char * pcBuffer,
                                                                                const char * pcTaskName )
        {
                size_t x;

                /* Start by copying the entire string. */
                strcpy( pcBuffer, pcTaskName );

                /* Pad the end of the string with spaces to ensure columns line up when
                 * printed out. */
                for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
                {
                        pcBuffer[ x ] = ' ';
                }

                /* Terminate. */
                pcBuffer[ x ] = ( char ) 0x00;

                /* Return the new end of string. */
                return &( pcBuffer[ x ] );
        }

#endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
/*-----------------------------------------------------------*/

#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )

        void vTaskList( char * pcWriteBuffer )
        {
                TaskStatus_t * pxTaskStatusArray;
                UBaseType_t uxArraySize, x;
                char cStatus;

                /*
                 * PLEASE NOTE:
                 *
                 * This function is provided for convenience only, and is used by many
                 * of the demo applications.    Do not consider it to be part of the
                 * scheduler.
                 *
                 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
                 * uxTaskGetSystemState() output into a human readable table that
                 * displays task: names, states, priority, stack usage and task number.
                 * Stack usage specified as the number of unused StackType_t words stack can hold
                 * on top of stack - not the number of bytes.
                 *
                 * vTaskList() has a dependency on the sprintf() C library function that
                 * might bloat the code size, use a lot of stack, and provide different
                 * results on different platforms.    An alternative, tiny, third party,
                 * and limited functionality implementation of sprintf() is provided in
                 * many of the FreeRTOS/Demo sub-directories in a file called
                 * printf-stdarg.c (note printf-stdarg.c does not provide a full
                 * snprintf() implementation!).
                 *
                 * It is recommended that production systems call uxTaskGetSystemState()
                 * directly to get access to raw stats data, rather than indirectly
                 * through a call to vTaskList().
                 */


                /* Make sure the write buffer does not contain a string. */
                *pcWriteBuffer = ( char ) 0x00;

                /* Take a snapshot of the number of tasks in case it changes while this
                 * function is executing. */
                uxArraySize = uxCurrentNumberOfTasks;

                /* Allocate an array index for each task.    NOTE!    if
                 * configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
                 * equate to NULL. */
                pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */

                if( pxTaskStatusArray != NULL )
                {
                        /* Generate the (binary) data. */
                        uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );

                        /* Create a human readable table from the binary data. */
                        for( x = 0; x < uxArraySize; x++ )
                        {
                                switch( pxTaskStatusArray[ x ].eCurrentState )
                                {
                                        case eRunning:
                                                cStatus = tskRUNNING_CHAR;
                                                break;

                                        case eReady:
                                                cStatus = tskREADY_CHAR;
                                                break;

                                        case eBlocked:
                                                cStatus = tskBLOCKED_CHAR;
                                                break;

                                        case eSuspended:
                                                cStatus = tskSUSPENDED_CHAR;
                                                break;

                                        case eDeleted:
                                                cStatus = tskDELETED_CHAR;
                                                break;

                                        case eInvalid: /* Fall through. */
                                        default:             /* Should not get here, but it is included
                                                                        * to prevent static checking errors. */
                                                cStatus = ( char ) 0x00;
                                                break;
                                }

                                /* Write the task name to the string, padding with spaces so it
                                 * can be printed in tabular form more easily. */
                                pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );

                                /* Write the rest of the string. */
                                sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
                                pcWriteBuffer += strlen( pcWriteBuffer );                                                                                                                                                                                                                                                                                                                                                                                                /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
                        }

                        /* Free the array again.    NOTE!    If configSUPPORT_DYNAMIC_ALLOCATION
                         * is 0 then vPortFree() will be #defined to nothing. */
                        vPortFree( pxTaskStatusArray );
                }
                else
                {
                        mtCOVERAGE_TEST_MARKER();
                }
        }

#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
/*----------------------------------------------------------*/

#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )

        void vTaskGetRunTimeStats( char * pcWriteBuffer )
        {
                TaskStatus_t * pxTaskStatusArray;
                UBaseType_t uxArraySize, x;
                configRUN_TIME_COUNTER_TYPE ulTotalTime, ulStatsAsPercentage;

                #if ( configUSE_TRACE_FACILITY != 1 )
                        {
                                #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
                        }
                #endif

                /*
                 * PLEASE NOTE:
                 *
                 * This function is provided for convenience only, and is used by many
                 * of the demo applications.    Do not consider it to be part of the
                 * scheduler.
                 *
                 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
                 * of the uxTaskGetSystemState() output into a human readable table that
                 * displays the amount of time each task has spent in the Running state
                 * in both absolute and percentage terms.
                 *
                 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
                 * function that might bloat the code size, use a lot of stack, and
                 * provide different results on different platforms.    An alternative,
                 * tiny, third party, and limited functionality implementation of
                 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
                 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
                 * a full snprintf() implementation!).
                 *
                 * It is recommended that production systems call uxTaskGetSystemState()
                 * directly to get access to raw stats data, rather than indirectly
                 * through a call to vTaskGetRunTimeStats().
                 */

                /* Make sure the write buffer does not contain a string. */
                *pcWriteBuffer = ( char ) 0x00;

                /* Take a snapshot of the number of tasks in case it changes while this
                 * function is executing. */
                uxArraySize = uxCurrentNumberOfTasks;

                /* Allocate an array index for each task.    NOTE!    If
                 * configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
                 * equate to NULL. */
                pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */

                if( pxTaskStatusArray != NULL )
                {
                        /* Generate the (binary) data. */
                        uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );

                        /* For percentage calculations. */
                        ulTotalTime /= 100UL;

                        /* Avoid divide by zero errors. */
                        if( ulTotalTime > 0UL )
                        {
                                /* Create a human readable table from the binary data. */
                                for( x = 0; x < uxArraySize; x++ )
                                {
                                        /* What percentage of the total run time has the task used?
                                         * This will always be rounded down to the nearest integer.
                                         * ulTotalRunTime has already been divided by 100. */
                                        ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;

                                        /* Write the task name to the string, padding with
                                         * spaces so it can be printed in tabular form more
                                         * easily. */
                                        pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );

                                        if( ulStatsAsPercentage > 0UL )
                                        {
                                                #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
                                                        {
                                                                sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
                                                        }
                                                #else
                                                        {
                                                                /* sizeof( int ) == sizeof( long ) so a smaller
                                                                 * printf() library can be used. */
                                                                sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
                                                        }
                                                #endif
                                        }
                                        else
                                        {
                                                /* If the percentage is zero here then the task has
                                                 * consumed less than 1% of the total run time. */
                                                #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
                                                        {
                                                                sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
                                                        }
                                                #else
                                                        {
                                                                /* sizeof( int ) == sizeof( long ) so a smaller
                                                                 * printf() library can be used. */
                                                                sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
                                                        }
                                                #endif
                                        }

                                        pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
                                }
                        }
                        else
                        {
                                mtCOVERAGE_TEST_MARKER();
                        }

                        /* Free the array again.    NOTE!    If configSUPPORT_DYNAMIC_ALLOCATION
                         * is 0 then vPortFree() will be #defined to nothing. */
                        vPortFree( pxTaskStatusArray );
                }
                else
                {
                        mtCOVERAGE_TEST_MARKER();
                }
        }

#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
/*-----------------------------------------------------------*/

TickType_t uxTaskResetEventItemValue( void )
{
        TickType_t uxReturn;

        uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );

        /* Reset the event list item to its normal value - so it can be used with
         * queues and semaphores. */
        listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */

        return uxReturn;
}
/*-----------------------------------------------------------*/

#if ( configUSE_MUTEXES == 1 )

        TaskHandle_t pvTaskIncrementMutexHeldCount( void )
        {
                /* If xSemaphoreCreateMutex() is called before any tasks have been created
                 * then pxCurrentTCB will be NULL. */
                if( pxCurrentTCB != NULL )
                {
                        ( pxCurrentTCB->uxMutexesHeld )++;
                }

                return pxCurrentTCB;
        }

#endif /* configUSE_MUTEXES */
/*-----------------------------------------------------------*/

#if ( configUSE_TASK_NOTIFICATIONS == 1 )

        uint32_t ulTaskGenericNotifyTake( UBaseType_t uxIndexToWait,
                                                                            BaseType_t xClearCountOnExit,
                                                                            TickType_t xTicksToWait )
        {
                uint32_t ulReturn;

                configASSERT( uxIndexToWait < configTASK_NOTIFICATION_ARRAY_ENTRIES );

                taskENTER_CRITICAL();
                {
                        /* Only block if the notification count is not already non-zero. */
                        if( pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] == 0UL )
                        {
                                /* Mark this task as waiting for a notification. */
                                pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskWAITING_NOTIFICATION;

                                if( xTicksToWait > ( TickType_t ) 0 )
                                {
                                        prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
                                        traceTASK_NOTIFY_TAKE_BLOCK( uxIndexToWait );

                                        /* All ports are written to allow a yield in a critical
                                         * section (some will yield immediately, others wait until the
                                         * critical section exits) - but it is not something that
                                         * application code should ever do. */
                                        portYIELD_WITHIN_API();
                                }
                                else
                                {
                                        mtCOVERAGE_TEST_MARKER();
                                }
                        }
                        else
                        {
                                mtCOVERAGE_TEST_MARKER();
                        }
                }
                taskEXIT_CRITICAL();

                taskENTER_CRITICAL();
                {
                        traceTASK_NOTIFY_TAKE( uxIndexToWait );
                        ulReturn = pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ];

                        if( ulReturn != 0UL )
                        {
                                if( xClearCountOnExit != pdFALSE )
                                {
                                        pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] = 0UL;
                                }
                                else
                                {
                                        pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] = ulReturn - ( uint32_t ) 1;
                                }
                        }
                        else
                        {
                                mtCOVERAGE_TEST_MARKER();
                        }

                        pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskNOT_WAITING_NOTIFICATION;
                }
                taskEXIT_CRITICAL();

                return ulReturn;
        }

#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/

#if ( configUSE_TASK_NOTIFICATIONS == 1 )

        BaseType_t xTaskGenericNotifyWait( UBaseType_t uxIndexToWait,
                                                                             uint32_t ulBitsToClearOnEntry,
                                                                             uint32_t ulBitsToClearOnExit,
                                                                             uint32_t * pulNotificationValue,
                                                                             TickType_t xTicksToWait )
        {
                BaseType_t xReturn;

                configASSERT( uxIndexToWait < configTASK_NOTIFICATION_ARRAY_ENTRIES );

                taskENTER_CRITICAL();
                {
                        /* Only block if a notification is not already pending. */
                        if( pxCurrentTCB->ucNotifyState[ uxIndexToWait ] != taskNOTIFICATION_RECEIVED )
                        {
                                /* Clear bits in the task's notification value as bits may get
                                 * set    by the notifying task or interrupt.    This can be used to
                                 * clear the value to zero. */
                                pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] &= ~ulBitsToClearOnEntry;

                                /* Mark this task as waiting for a notification. */
                                pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskWAITING_NOTIFICATION;

                                if( xTicksToWait > ( TickType_t ) 0 )
                                {
                                        prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
                                        traceTASK_NOTIFY_WAIT_BLOCK( uxIndexToWait );

                                        /* All ports are written to allow a yield in a critical
                                         * section (some will yield immediately, others wait until the
                                         * critical section exits) - but it is not something that
                                         * application code should ever do. */
                                        portYIELD_WITHIN_API();
                                }
                                else
                                {
                                        mtCOVERAGE_TEST_MARKER();
                                }
                        }
                        else
                        {
                                mtCOVERAGE_TEST_MARKER();
                        }
                }
                taskEXIT_CRITICAL();

                taskENTER_CRITICAL();
                {
                        traceTASK_NOTIFY_WAIT( uxIndexToWait );

                        if( pulNotificationValue != NULL )
                        {
                                /* Output the current notification value, which may or may not
                                 * have changed. */
                                *pulNotificationValue = pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ];
                        }

                        /* If ucNotifyValue is set then either the task never entered the
                         * blocked state (because a notification was already pending) or the
                         * task unblocked because of a notification.    Otherwise the task
                         * unblocked because of a timeout. */
                        if( pxCurrentTCB->ucNotifyState[ uxIndexToWait ] != taskNOTIFICATION_RECEIVED )
                        {
                                /* A notification was not received. */
                                xReturn = pdFALSE;
                        }
                        else
                        {
                                /* A notification was already pending or a notification was
                                 * received while the task was waiting. */
                                pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] &= ~ulBitsToClearOnExit;
                                xReturn = pdTRUE;
                        }

                        pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskNOT_WAITING_NOTIFICATION;
                }
                taskEXIT_CRITICAL();

                return xReturn;
        }

#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/

#if ( configUSE_TASK_NOTIFICATIONS == 1 )

        BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify,
                                                                     UBaseType_t uxIndexToNotify,
                                                                     uint32_t ulValue,
                                                                     eNotifyAction eAction,
                                                                     uint32_t * pulPreviousNotificationValue )
        {
                TCB_t * pxTCB;
                BaseType_t xReturn = pdPASS;
                uint8_t ucOriginalNotifyState;

                configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );
                configASSERT( xTaskToNotify );
                pxTCB = xTaskToNotify;

                taskENTER_CRITICAL();
                {
                        if( pulPreviousNotificationValue != NULL )
                        {
                                *pulPreviousNotificationValue = pxTCB->ulNotifiedValue[ uxIndexToNotify ];
                        }

                        ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];

                        pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;

                        switch( eAction )
                        {
                                case eSetBits:
                                        pxTCB->ulNotifiedValue[ uxIndexToNotify ] |= ulValue;
                                        break;

                                case eIncrement:
                                        ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++;
                                        break;

                                case eSetValueWithOverwrite:
                                        pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
                                        break;

                                case eSetValueWithoutOverwrite:

                                        if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
                                        {
                                                pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
                                        }
                                        else
                                        {
                                                /* The value could not be written to the task. */
                                                xReturn = pdFAIL;
                                        }

                                        break;

                                case eNoAction:

                                        /* The task is being notified without its notify value being
                                         * updated. */
                                        break;

                                default:

                                        /* Should not get here if all enums are handled.
                                         * Artificially force an assert by testing a value the
                                         * compiler can't assume is const. */
                                        configASSERT( xTickCount == ( TickType_t ) 0 );

                                        break;
                        }

                        traceTASK_NOTIFY( uxIndexToNotify );

                        /* If the task is in the blocked state specifically to wait for a
                         * notification then unblock it now. */
                        if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
                        {
                                listREMOVE_ITEM( &( pxTCB->xStateListItem ) );
                                prvAddTaskToReadyList( pxTCB );

                                /* The task should not have been on an event list. */
                                configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );

                                #if ( configUSE_TICKLESS_IDLE != 0 )
                                        {
                                                /* If a task is blocked waiting for a notification then
                                                 * xNextTaskUnblockTime might be set to the blocked task's time
                                                 * out time.    If the task is unblocked for a reason other than
                                                 * a timeout xNextTaskUnblockTime is normally left unchanged,
                                                 * because it will automatically get reset to a new value when
                                                 * the tick count equals xNextTaskUnblockTime.    However if
                                                 * tickless idling is used it might be more important to enter
                                                 * sleep mode at the earliest possible time - so reset
                                                 * xNextTaskUnblockTime here to ensure it is updated at the
                                                 * earliest possible time. */
                                                prvResetNextTaskUnblockTime();
                                        }
                                #endif

                                if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
                                {
                                        /* The notified task has a priority above the currently
                                         * executing task so a yield is required. */
                                        taskYIELD_IF_USING_PREEMPTION();
                                }
                                else
                                {
                                        mtCOVERAGE_TEST_MARKER();
                                }
                        }
                        else
                        {
                                mtCOVERAGE_TEST_MARKER();
                        }
                }
                taskEXIT_CRITICAL();

                return xReturn;
        }

#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/

#if ( configUSE_TASK_NOTIFICATIONS == 1 )

        BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify,
                                                                                    UBaseType_t uxIndexToNotify,
                                                                                    uint32_t ulValue,
                                                                                    eNotifyAction eAction,
                                                                                    uint32_t * pulPreviousNotificationValue,
                                                                                    BaseType_t * pxHigherPriorityTaskWoken )
        {
                TCB_t * pxTCB;
                uint8_t ucOriginalNotifyState;
                BaseType_t xReturn = pdPASS;
                UBaseType_t uxSavedInterruptStatus;

                configASSERT( xTaskToNotify );
                configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );

                /* RTOS ports that support interrupt nesting have the concept of a
                 * maximum    system call (or maximum API call) interrupt priority.
                 * Interrupts that are    above the maximum system call priority are keep
                 * permanently enabled, even when the RTOS kernel is in a critical section,
                 * but cannot make any calls to FreeRTOS API functions.    If configASSERT()
                 * is defined in FreeRTOSConfig.h then
                 * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
                 * failure if a FreeRTOS API function is called from an interrupt that has
                 * been assigned a priority above the configured maximum system call
                 * priority.    Only FreeRTOS functions that end in FromISR can be called
                 * from interrupts    that have been assigned a priority at or (logically)
                 * below the maximum system call interrupt priority.    FreeRTOS maintains a
                 * separate interrupt safe API to ensure interrupt entry is as fast and as
                 * simple as possible.    More information (albeit Cortex-M specific) is
                 * provided on the following link:
                 * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
                portASSERT_IF_INTERRUPT_PRIORITY_INVALID();

                pxTCB = xTaskToNotify;

                uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
                {
                        if( pulPreviousNotificationValue != NULL )
                        {
                                *pulPreviousNotificationValue = pxTCB->ulNotifiedValue[ uxIndexToNotify ];
                        }

                        ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];
                        pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;

                        switch( eAction )
                        {
                                case eSetBits:
                                        pxTCB->ulNotifiedValue[ uxIndexToNotify ] |= ulValue;
                                        break;

                                case eIncrement:
                                        ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++;
                                        break;

                                case eSetValueWithOverwrite:
                                        pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
                                        break;

                                case eSetValueWithoutOverwrite:

                                        if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
                                        {
                                                pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
                                        }
                                        else
                                        {
                                                /* The value could not be written to the task. */
                                                xReturn = pdFAIL;
                                        }

                                        break;

                                case eNoAction:

                                        /* The task is being notified without its notify value being
                                         * updated. */
                                        break;

                                default:

                                        /* Should not get here if all enums are handled.
                                         * Artificially force an assert by testing a value the
                                         * compiler can't assume is const. */
                                        configASSERT( xTickCount == ( TickType_t ) 0 );
                                        break;
                        }

                        traceTASK_NOTIFY_FROM_ISR( uxIndexToNotify );

                        /* If the task is in the blocked state specifically to wait for a
                         * notification then unblock it now. */
                        if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
                        {
                                /* The task should not have been on an event list. */
                                configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );

                                if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
                                {
                                        listREMOVE_ITEM( &( pxTCB->xStateListItem ) );
                                        prvAddTaskToReadyList( pxTCB );
                                }
                                else
                                {
                                        /* The delayed and ready lists cannot be accessed, so hold
                                         * this task pending until the scheduler is resumed. */
                                        listINSERT_END( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
                                }

                                if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
                                {
                                        /* The notified task has a priority above the currently
                                         * executing task so a yield is required. */
                                        if( pxHigherPriorityTaskWoken != NULL )
                                        {
                                                *pxHigherPriorityTaskWoken = pdTRUE;
                                        }

                                        /* Mark that a yield is pending in case the user is not
                                         * using the "xHigherPriorityTaskWoken" parameter to an ISR
                                         * safe FreeRTOS function. */
                                        xYieldPending = pdTRUE;
                                }
                                else
                                {
                                        mtCOVERAGE_TEST_MARKER();
                                }
                        }
                }
                portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );

                return xReturn;
        }

#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/

#if ( configUSE_TASK_NOTIFICATIONS == 1 )

        void vTaskGenericNotifyGiveFromISR( TaskHandle_t xTaskToNotify,
                                                                                UBaseType_t uxIndexToNotify,
                                                                                BaseType_t * pxHigherPriorityTaskWoken )
        {
                TCB_t * pxTCB;
                uint8_t ucOriginalNotifyState;
                UBaseType_t uxSavedInterruptStatus;

                configASSERT( xTaskToNotify );
                configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );

                /* RTOS ports that support interrupt nesting have the concept of a
                 * maximum    system call (or maximum API call) interrupt priority.
                 * Interrupts that are    above the maximum system call priority are keep
                 * permanently enabled, even when the RTOS kernel is in a critical section,
                 * but cannot make any calls to FreeRTOS API functions.    If configASSERT()
                 * is defined in FreeRTOSConfig.h then
                 * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
                 * failure if a FreeRTOS API function is called from an interrupt that has
                 * been assigned a priority above the configured maximum system call
                 * priority.    Only FreeRTOS functions that end in FromISR can be called
                 * from interrupts    that have been assigned a priority at or (logically)
                 * below the maximum system call interrupt priority.    FreeRTOS maintains a
                 * separate interrupt safe API to ensure interrupt entry is as fast and as
                 * simple as possible.    More information (albeit Cortex-M specific) is
                 * provided on the following link:
                 * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
                portASSERT_IF_INTERRUPT_PRIORITY_INVALID();

                pxTCB = xTaskToNotify;

                uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
                {
                        ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];
                        pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;

                        /* 'Giving' is equivalent to incrementing a count in a counting
                         * semaphore. */
                        ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++;

                        traceTASK_NOTIFY_GIVE_FROM_ISR( uxIndexToNotify );

                        /* If the task is in the blocked state specifically to wait for a
                         * notification then unblock it now. */
                        if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
                        {
                                /* The task should not have been on an event list. */
                                configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );

                                if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
                                {
                                        listREMOVE_ITEM( &( pxTCB->xStateListItem ) );
                                        prvAddTaskToReadyList( pxTCB );
                                }
                                else
                                {
                                        /* The delayed and ready lists cannot be accessed, so hold
                                         * this task pending until the scheduler is resumed. */
                                        listINSERT_END( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
                                }

                                if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
                                {
                                        /* The notified task has a priority above the currently
                                         * executing task so a yield is required. */
                                        if( pxHigherPriorityTaskWoken != NULL )
                                        {
                                                *pxHigherPriorityTaskWoken = pdTRUE;
                                        }

                                        /* Mark that a yield is pending in case the user is not
                                         * using the "xHigherPriorityTaskWoken" parameter in an ISR
                                         * safe FreeRTOS function. */
                                        xYieldPending = pdTRUE;
                                }
                                else
                                {
                                        mtCOVERAGE_TEST_MARKER();
                                }
                        }
                }
                portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
        }

#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/

#if ( configUSE_TASK_NOTIFICATIONS == 1 )

        BaseType_t xTaskGenericNotifyStateClear( TaskHandle_t xTask,
                                                                                         UBaseType_t uxIndexToClear )
        {
                TCB_t * pxTCB;
                BaseType_t xReturn;

                configASSERT( uxIndexToClear < configTASK_NOTIFICATION_ARRAY_ENTRIES );

                /* If null is passed in here then it is the calling task that is having
                 * its notification state cleared. */
                pxTCB = prvGetTCBFromHandle( xTask );

                taskENTER_CRITICAL();
                {
                        if( pxTCB->ucNotifyState[ uxIndexToClear ] == taskNOTIFICATION_RECEIVED )
                        {
                                pxTCB->ucNotifyState[ uxIndexToClear ] = taskNOT_WAITING_NOTIFICATION;
                                xReturn = pdPASS;
                        }
                        else
                        {
                                xReturn = pdFAIL;
                        }
                }
                taskEXIT_CRITICAL();

                return xReturn;
        }

#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/

#if ( configUSE_TASK_NOTIFICATIONS == 1 )

        uint32_t ulTaskGenericNotifyValueClear( TaskHandle_t xTask,
                                                                                        UBaseType_t uxIndexToClear,
                                                                                        uint32_t ulBitsToClear )
        {
                TCB_t * pxTCB;
                uint32_t ulReturn;

                /* If null is passed in here then it is the calling task that is having
                 * its notification state cleared. */
                pxTCB = prvGetTCBFromHandle( xTask );

                taskENTER_CRITICAL();
                {
                        /* Return the notification as it was before the bits were cleared,
                         * then clear the bit mask. */
                        ulReturn = pxTCB->ulNotifiedValue[ uxIndexToClear ];
                        pxTCB->ulNotifiedValue[ uxIndexToClear ] &= ~ulBitsToClear;
                }
                taskEXIT_CRITICAL();

                return ulReturn;
        }

#endif /* configUSE_TASK_NOTIFICATIONS */
/*-----------------------------------------------------------*/

#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )

        configRUN_TIME_COUNTER_TYPE ulTaskGetIdleRunTimeCounter( void )
        {
                return xIdleTaskHandle->ulRunTimeCounter;
        }

#endif
/*-----------------------------------------------------------*/

#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )

        configRUN_TIME_COUNTER_TYPE ulTaskGetIdleRunTimePercent( void )
        {
                configRUN_TIME_COUNTER_TYPE ulTotalTime, ulReturn;

                ulTotalTime = portGET_RUN_TIME_COUNTER_VALUE();

                /* For percentage calculations. */
                ulTotalTime /= ( configRUN_TIME_COUNTER_TYPE ) 100;

                /* Avoid divide by zero errors. */
                if( ulTotalTime > ( configRUN_TIME_COUNTER_TYPE ) 0 )
                {
                        ulReturn = xIdleTaskHandle->ulRunTimeCounter / ulTotalTime;
                }
                else
                {
                        ulReturn = 0;
                }

                return ulReturn;
        }

#endif /* if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) ) */
/*-----------------------------------------------------------*/

static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
                                                                                        const BaseType_t xCanBlockIndefinitely )
{
        TickType_t xTimeToWake;
        const TickType_t xConstTickCount = xTickCount;

        #if ( INCLUDE_xTaskAbortDelay == 1 )
                {
                        /* About to enter a delayed list, so ensure the ucDelayAborted flag is
                         * reset to pdFALSE so it can be detected as having been set to pdTRUE
                         * when the task leaves the Blocked state. */
                        pxCurrentTCB->ucDelayAborted = pdFALSE;
                }
        #endif

        /* Remove the task from the ready list before adding it to the blocked list
         * as the same list item is used for both lists. */
        if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
        {
                /* The current task must be in a ready list, so there is no need to
                 * check, and the port reset macro can be called directly. */
                portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); /*lint !e931 pxCurrentTCB cannot change as it is the calling task.    pxCurrentTCB->uxPriority and uxTopReadyPriority cannot change as called with scheduler suspended or in a critical section. */
        }
        else
        {
                mtCOVERAGE_TEST_MARKER();
        }

        #if ( INCLUDE_vTaskSuspend == 1 )
                {
                        if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
                        {
                                /* Add the task to the suspended task list instead of a delayed task
                                 * list to ensure it is not woken by a timing event.    It will block
                                 * indefinitely. */
                                listINSERT_END( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
                        }
                        else
                        {
                                /* Calculate the time at which the task should be woken if the event
                                 * does not occur.    This may overflow but this doesn't matter, the
                                 * kernel will manage it correctly. */
                                xTimeToWake = xConstTickCount + xTicksToWait;

                                /* The list item will be inserted in wake time order. */
                                listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );

                                if( xTimeToWake < xConstTickCount )
                                {
                                        /* Wake time has overflowed.    Place this item in the overflow
                                         * list. */
                                        vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
                                }
                                else
                                {
                                        /* The wake time has not overflowed, so the current block list
                                         * is used. */
                                        vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );

                                        /* If the task entering the blocked state was placed at the
                                         * head of the list of blocked tasks then xNextTaskUnblockTime
                                         * needs to be updated too. */
                                        if( xTimeToWake < xNextTaskUnblockTime )
                                        {
                                                xNextTaskUnblockTime = xTimeToWake;
                                        }
                                        else
                                        {
                                                mtCOVERAGE_TEST_MARKER();
                                        }
                                }
                        }
                }
        #else /* INCLUDE_vTaskSuspend */
                {
                        /* Calculate the time at which the task should be woken if the event
                         * does not occur.    This may overflow but this doesn't matter, the kernel
                         * will manage it correctly. */
                        xTimeToWake = xConstTickCount + xTicksToWait;

                        /* The list item will be inserted in wake time order. */
                        listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );

                        if( xTimeToWake < xConstTickCount )
                        {
                                /* Wake time has overflowed.    Place this item in the overflow list. */
                                vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
                        }
                        else
                        {
                                /* The wake time has not overflowed, so the current block list is used. */
                                vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );

                                /* If the task entering the blocked state was placed at the head of the
                                 * list of blocked tasks then xNextTaskUnblockTime needs to be updated
                                 * too. */
                                if( xTimeToWake < xNextTaskUnblockTime )
                                {
                                        xNextTaskUnblockTime = xTimeToWake;
                                }
                                else
                                {
                                        mtCOVERAGE_TEST_MARKER();
                                }
                        }

                        /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
                        ( void ) xCanBlockIndefinitely;
                }
        #endif /* INCLUDE_vTaskSuspend */
}

/* Code below here allows additional code to be inserted into this source file,
 * especially where access to file scope functions and data is needed (for example
 * when performing module tests). */

#ifdef FREERTOS_MODULE_TEST
        #include "tasks_test_access_functions.h"
#endif


#if ( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )

        #include "freertos_tasks_c_additions.h"

        #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
                static void freertos_tasks_c_additions_init( void )
                {
                        FREERTOS_TASKS_C_ADDITIONS_INIT();
                }
        #endif

#endif /* if ( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 ) */

/*< Support For CmBacktrace >*/
uint32_t * vTaskStackAddr()
{
    return pxCurrentTCB->pxStack;
}

uint32_t vTaskStackSize()
{
    #if ( portSTACK_GROWTH > 0 )
    
    return (pxNewTCB->pxEndOfStack - pxNewTCB->pxStack + 1);
    
    #else /* ( portSTACK_GROWTH > 0 )*/
    
    return pxCurrentTCB->uxSizeOfStack;
    
    #endif /* ( portSTACK_GROWTH > 0 )*/
}


char * vTaskName()
{
    return pxCurrentTCB->pcTaskName;
}


